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About this paper
Anthony Czubarow, Antonio Terpin, Raffaello D'Andrea
The authors demonstrate ToF camera angle feedback for balancing an inverted pendulum on a cart. A camera beneath the pole estimates angle, while an encoder measures cart position; a state estimator and controller command motion. All 10 one-minute trials stayed balanced. In a 600-second comparison, ToF angle RMSE was 5.26 mrad versus 1.33 mrad for encoder feedback, on this apparatus.
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