The great thing about hacking on Roombas is that iRobot used quality parts to build them ... But he also used the setup to make a self-balancing bot. The two motors from the Roomba have magnetic ...

This video contains several experiments with the humanoid robot TORO developed by DLR, which demonstrates the performance and robustness of a passivity-based balancing controller utilizing multiple ...

This paper applies our passivity-based approach for hierarchical whole-body control including balancing to scenarios involving contacts distributed all over the body of the robot as required in ...