Analysis and Design of Planar Self-Balancing Double- Pendulum Robots

  • Roy Featherstone
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)


This paper explores the attributes of a double-pendulum robot that determine its ability to balance. A new measure is defined, called the velocity gain, that expresses the degree to which the robot’s centre of mass will move in response to motion of the robot’s actuated joint. This measure can be used both to analyse a robot’s performance and to design robot mechanisms for improved performance. Some properties of the velocity gain are explained, and several examples of both good and bad balancing robots are presented. The significance of this work is that a robot mechanism’s intrinsic ability to balance sets a physical upper limit to the robot’s attainable performance at balancing tasks, which is independent of the choice of control system.


Mobile Robot Revolute Joint Rolling Contact Inertia Parameter Double Pendulum 
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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Roy Featherstone
    • 1
  1. 1.School of EngineeringAustralian National UniversityCanberraAustralia

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