Wheeled Inverted Pendulum Model
Posted2 months agoActive2 months ago
scaron.infoTechstory
calmpositive
Debate
20/100
RoboticsControl SystemsModeling
Key topics
Robotics
Control Systems
Modeling
The Wheeled Inverted Pendulum Model is a mathematical model used to describe the dynamics of robots like Segways, and the discussion revolves around its implementation, control, and applications.
Snapshot generated from the HN discussion
Discussion Activity
Moderate engagementFirst comment
4d
Peak period
8
Day 5
Avg / period
4.5
Key moments
- 01Story posted
Oct 25, 2025 at 12:41 AM EDT
2 months ago
Step 01 - 02First comment
Oct 29, 2025 at 7:47 AM EDT
4d after posting
Step 02 - 03Peak activity
8 comments in Day 5
Hottest window of the conversation
Step 03 - 04Latest activity
Nov 3, 2025 at 5:12 AM EST
2 months ago
Step 04
Generating AI Summary...
Analyzing up to 500 comments to identify key contributors and discussion patterns
ID: 45701400Type: storyLast synced: 11/20/2025, 1:30:03 PM
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Read the primary article or dive into the live Hacker News thread when you're ready.
As an aside: thanks to the author for pre-rendering the latex as the page looks pretty much the same with JS on or off.
Pre-render your latex!
https://katex.org/
https://www.youtube.com/watch?v=I5GvwWKkBmg
Control theory is one of those things that shouldn't possibly work, yet here we are.
Needs an animation!
https://github.com/reanimate/reanimate
https://reanimate.github.io/
I wonder how much of an improvement would the linearization yield in this case, given that it only works for small angles (which I imply from "see how to linearize and discretize it for small angles" in the article), and I guess that for large angles there won't be enough wheel grip anyway if torque would suffice, even with linearized control.
Well, it's a nice occasion to revisit an old project and try, then.
Useful revision of the engineering kinematics I covered a while ago.