Grasser, F.D'Arrigo, A.Colombi, S.Rufer, A.2005-11-182005-11-18200210.1109/41.982254https://infoscience.epfl.ch/handle/20.500.14299/220163The Industrial Electronics Laboratory at the Swiss Federal Institute of Technology, Lausanne, Switzerland, 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.digital signal processorgyroscopemodelingroboticsstate-space controltext::journal::journal article::research article