Equilibrium restoration method for e.g. mono wheel robot, involves detecting passage of rotation axis of movable element to apply dynamic parameters to movable element before correction of equilibrium of movable element

摘要

The method involves leading a procession gyroscope by changing an inclination of a rolling movable element under the effect of induced torque to move the movable element closer to a vertical direction. A passage of a rotation axis (18) of the movable element is detected in order to apply dynamic parameters to the movable element before correction of equilibrium of the movable element, where the parameters are defined by a displacement phase of the movable element. An independent claim is also included for a device for restoration of equilibrium of a rolling movable element.