This paper proposes a robotic cane that helps users to stand and maintain their balance
while standing and walking. The design is based on an inverted pendulum model, uses a …

In this letter, a novel dual-ball self-balancing robot is proposed for the first time. Different
from the operating principle of the traditional single-ball self-balancing robot, the dual-ball …

This paper presents an adaptive intelligent cascade control strategy to maintain the dynamic
stability of a ball-riding robot (BRR). The four-wheeled mechanism beneath the robot body …

This study presents the Nonlinear Model Predictive Control (NMPC) method for ballbot
systems. Due to the complex nature of the underactuated system, ballbot requires a …

This paper presents a (patent-pending) small, quasi-static, minimal-complexity Stair
Climbing Robot (SCR). The vehicle design is given simply by adding a third motor to a …

This paper explores the accuracy of several state estimators used in Mobile Inverted
Pendulum (MIP) robots. Accurate state estimation is essential for effective feedback …

The purpose of this research is to produce a smart robot prototype that is able to attract
toddlers' attention so that they can respond in the form of motor movements. The making of …

In this paper, we describe the modeling of a balancing robot. The balancing robot is a biped
stepping robot, and aims to balance on a rolling pipe. The motion equations of the balancing …

The goal is to build and stabilize a robot balancing on twin balls. The robot consists of six
omni wheels in a special configuration standing on twin balls which gives it inverse …

The state estimation and control of a ball-balancing robot under high yaw rate is a
challenging problem due to its highly nonlinear 3D dynamic. The small size and low-cost …