Abstract: This paper proposes a new template model called Spring Loaded Inverted Pendulum with Swing Legs (SLIP-SL) which improves on the popular SLIP model by adding passive swing leg dynamics. It is ...
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Abstract: This paper presents the modeling and control of a nonlinear two-wheeled inverted pendulum (TWIP) system. We derive the transfer function and design robust controllers for the TWIP system.
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