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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