2 papers
eess.SY2016
Symmetries in the wheeled inverted pendulum mechanism
Sneha Gajbhiye, Ravi N. Banavar, Sergio Delgado
The purpose of this article is to illustrate the role of connections and symmetries in the Wheeled Inverted Pendulum (WIP) mechanism - an underactuated system with rolling constrai…
eess.SY2015
Geometric approach to tracking and stabilization for a spherical robot actuated by internal rotors
Sneha Gajbhiye, Ravi N. Banavar
This paper presents tracking control laws for two different objectives of a nonholonomic system - a spherical robot - using a geometric approach. The first control law addresses or…