1. From: Design for Control of Wheeled Inverted Pendulum Platforms
Date of download: 11/8/2017
Copyright © ASME. All rights reserved.
From: Design for Control of Wheeled Inverted Pendulum Platforms
J. Mechanisms Robotics. 2015;7(4): doi: /
Figure Legend:
Phase plots showing relative stability—(a) pendulum pitch versus pitch rate with hard tires, (b) pendulum pitch versus pitch rate with soft tires, (c) wheel position versus velocity with hard tires, and (d) wheel position versus velocity with soft tires