The mathematics of humanoid robot walking revolves around balancing dynamics using the center of mass (CoM), kinematic ...

Humans stand on two legs. While it may seem natural, it is actually a highly complex control problem. Force sensors in the soles of the feet send information, the vestibular system monitors balance, ...

A new discovery in physics could help engineers stabilize robots and structures without relying on complex sensors and control systems, and design metamaterials and network systems that are currently ...

Abstract: In this brief, a dynamic model of a mobile wheeled inverted pendulum (MWIP) system is improved considering friction forces, and a nonlinear disturbance observer (NDO)-based dynamic surface ...

This repository contains the complete implementation of a data-driven reinforcement learning framework for stabilising an inverted pendulum (cart-pole) system without an explicit mathematical model. r ...

A remote-access control systems laboratory built as a graduation project at the Faculty of Engineering, Ain Shams University (Mechatronics Program). CoTune lets a student log in from anywhere, join a ...

Abstract: This paper studies the safety-critical control of a class of underactuated systems, with a focus on a wheeled inverted pendulum as a case study. A safety-critical controller is desired to ...

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