Balance control of a simulated inverted pendulum on a circular base

Balance control of a simulated inverted pendulum attached to a circular base is presented. This type of platform is analogous to a biped robot with circular soled feet in single support phase. Circular feet have been shown to be more energy efficient than flat feet during walking, and in this paper we present another advantage, where circular feet do not suffer from ground separation when applying a large torque at the ankle.