This paper describes the mobile control and the standing and sitting motions of an Inverted PENdulum Type Assistant Robot-(I-PENTAR) aiming at the coexistence of safety and work capability. I-PENTAR ...

Wheeled Inverted Pendulum (WIP) systems offer agile mobility but are challenging to control due to their unstable and underactuated dynamics. To address these limitations, we develop a Wheeled ...