In　robotics,　achieving　stable　control　of　unicycles　presents　a　significant　challenge.　However,　standard　balance　control　methods　concentrate　on　regulating　the　position　and　static　balance　of　the　robot.　Such　techniques　exhibit　diminished　performance　in　the　presence　of　external　disruptions　or　uncertain　terrain.　To　enhance　the　stability　and　resilience　of　unicycles　in　dynamic　settings,　this　research　presents　a　double-flywheel　unicycle　robot　that　utilizes　the　conservation　of　angular　momentum　in　a　dual-gyroscope　system　to　maintain　its　balance.　Through　the　integration　of　mechanical　design,　electronic　design,　and　controller　design,　a　prototype　of　the　unicycle　robot　is　fabricated.　For　adaptive　balance　control,　a　cascaded　PID　controller　based　on　MATLAB　dynamic　simulation　is　developed.　The　cascaded　PID　controller　comprises　angle,　velocity,　and　angular　velocity　loops,　enabling　non-linear　and　coupled　balance　control.　Moreover,　using　MECHANICS　EXPLORERS,　the　disturbance　rejection　capacity　of　the　designed　cascaded　PID　controller　is　confirmed　through　pulse　interference　simulation.　This　study　uses　exercises　that　traverse　ramps　and　maneuver　corners　to　demonstrate　the　unicycle　robot＇s　dynamic　balance.　This　exemplified　the　resilience　of　the　entire　balance　system,　demonstrating　its　capacity　to　recuperate　from　disruptions　and　uphold　stability.　The　unicycle　robot,　in　conjunction　with　the　cascaded　PID　controller,　can　enhance　response　speed　and　achieve　high-precision　balance　control　performance,　enabling　stable　motion　in　complex　environments.　This　study　significantly　guides　the　development　of　newfound　intelligent,　flexible,　and　adaptable　unicycle　robots,　providing　novel　ideas　and　approaches　for　future　robot　design　and　control.　©　2024　SPIE.