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Table 1 Physical parameters

From: Embedded solutions for a class of highly unstable, underactuated and self-balancing robotic systems

Parameter Value m.u.
Mass of the ball 0.65 kg
Mass of the wheel 0.107 kg
Mass of the body 5.045 kg
Radius of the ball 120 mm
Radius of the wheel 53 mm
Radius of the body 140 mm
Height of COG 410 mm
Inertia of the ball 0.005 k g m 2
Inertia of the body 0.47 k g m 2