Design and control of a micro ball-balancing robot (MBBR) with orthogonal midlatitude omniwheel placement. - Daniel J. Yang; Eric Sihite; Jeffrey M. Friesen; Thomas Bewley (IROS, 2015)

A minimalist Stair Climbing Robot (SCR) formed as a leg balancing & climbing Mobile Inverted Pendulum (MIP). - Daniel J. Yang; Thomas Bewley (IROS, 2018)

Derivation of a new drive/coast motor driver model for real-time brushed DC motor control, and validation on a MIP robot. - Eric N. Sihite; Daniel J. Yang; Thomas R. Bewley (CASE, 2019)

Modeling and state estimation of a Micro Ball-balancing Robot using a high yaw-rate dynamic model and an Extended Kalman Filter. - Eric Sihite; Daniel J. Yang; Thomas Bewley (ICRA, 2019)