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About this paper
Duc Cuong Vu, Tung Lam Nguyen
Safe-Ballbot plans the ball’s motion with a lightweight model and limits planned acceleration by the lean its tracker can sustainably admit. In MuJoCo simulations of four known-obstacle scenarios, it maintained more than 10 cm clearance, stayed below the tilt limit, and tracked the plan with about 2 cm RMS error. These results do not establish hardware performance.
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