A simple model of balancing in the plane and a simple preview balance controller

@article{Featherstone2017ASM,
  title={A simple model of balancing in the plane and a simple preview balance controller},
  author={Roy Featherstone},
  journal={I. J. Robotics Res.},
  year={2017},
  volume={36},
  pages={1489-1507}
}
This paper presents a new model of the dynamics of a general planar robot balancing on a point in the plane, in which the essential parameters of the robot’s balancing behaviour are reduced to just two numbers, both of which are simple functions of basic physical properties of the robot mechanism. A third number describes the effect of other movements on the robot’s balance. This model gives rise to a simple preview balance controller consisting of a four-term control law with easily calculated… CONTINUE READING

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