Jan Weisgerber

The Mini Wheelbot: A Testbed for Learning-based Balancing, Flips, and Articulated Driving

The Mini Wheelbot is a balancing, reaction wheel unicycle robot designed as a testbed for learning-based control. It is an unstable system with highly nonlinear yaw dynamics, non-holonomic driving, and discrete contact switches in a small, powerful, and rugged form factor. The Mini Wheelbot can use