Balancing and Transferring Control of a Ball Segway Using a Double-Loop Approach [Applications of Control]

Mobile robots typically have more than three contacts with the ground, including at least two independent driving wheels, to be statically stable with a wide base for a large support polygon. These robots can rotate at any point but cannot make an instantaneous movement in every direction. They cannot move freely even in an open space when they are crowded with people in a common human-coexisting environment. Moreover, these robots have other limitations, such as minimum passage width and minimum turning radius.