In this configuration, the PID loop made smaller adjustments, while another control loop focused on the system’s total energy, making the cube much more stable.

The results demonstrate that elastic robots may achieve positioning accuracy comparable to rigid joint robots. This video shows the results of: Keppler, M., Raschel, C., Wandinger, D., Stemmer, A. and ...

Qinghua Song, Dandan Wang, Neural Network Ship PID Control and Simulation Based on Grey Prediction, Journal of Coastal Research, SPECIAL ISSUE NO. 110. Recent Developments of Port, Marine, and Ocean ...

PID (Proportional-Integral-Derivative) control is what makes the robot stay balanced. Kp (proportional gain) determines how aggressively the motors respond to tilting.