Vision-based control of the double spherical inverted pendulum

This paper deals with the stabilizing control of the double spherical inverted pendulum using a planer manipulator and a vision sensor. It has some interesting features as a nonlinear system with many degrees of freedom. The authors focus especially on its systematic modeling, nonlinear controller design based on the linearization method, and the visual measurement. Experiments have been successfully carried out and the results clearly demonstrate advantage of the nonlinear control.