Inertial sensor arrays present the possibility of improved and extended sensing capabilities
as compared to customary inertial sensor setups. Inertial sensor arrays have been studied …

So-called robot–object Lagrangian systems consist of a class of nonsmooth underactuated
complementarity Lagrangian systems, with a specific structure: an “object” and a “robot” …

This paper presents control and learning algorithms for a reaction wheel-based 3-D inverted
pendulum. The inverted pendulum system has two main features: the ability to balance on its …

The intrinsically reciprocating motion in fishlike propulsion causes severe attitude instability
of a robotic fish, which poses enormous challenges for environmental perception and …

Combining off-the-shelf components with 3D-printing, the Wheelbot is a symmetric reaction
wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic …

This paper presents the design, analysis, and comparison of a novel four-pendulum
spherical robot. The proposed mechanism rolls omnidirectionally via four tetrahedrally …

In this paper a three-dimensional self-balancing cube is introduced. For stabilization and
swing-up, reaction wheels are placed within the cube along with the actuation, electronics …

Directed in-situ science and exploration on the surface of small Solar System bodies
requires controlled mobility. In the microgravity environment of small bodies such as …

This paper proposes a comparative study of uncertainty modelling approaches for inverted-
pendulum type mechanical systems with input-output derivative behaviour to be directly …

针对立方体机器人动力学模型多变量, 强耦合的问题, 提出一种基于自抗扰控制的平衡控制器
设计方法. 引入虚拟控制量, 并在控制量与输出向量之间并行地嵌入多个自抗扰控制器 …