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} |