Grasser, F.D'Arrigo, A.Colombi, S.Rufer, A.2005-11-152005-11-152001https://infoscience.epfl.ch/handle/20.500.14299/219976The Industrial Electronics Laboratory at the Swiss Federal Institute of Technology (EPFL) in Lausanne has built a prototype of a revolutionary two-wheeled vehicle. Due to its configuration with two coaxial wheels, each of which is coupled to a DC Motor, the vehicle is able to do stationary U-turns. A control system, made up of two decoupled state space controllers, pilots the motors so as to keep the system in equilibrium. See http://leiwww.epfl.ch/joe for a video demonstration of JOE.state space controlroboticsDSPmodelinggyroscopetext::conference output::conference paper not in proceedings