Version 2.0 Segway RMP – User Guide
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Fore/Aft Motion
The following graphs show what happens when the RMP is displaced from a resting position.
Pay attention to the following behaviors.
• The torque applied by the wheels is non-zero when the RMP is displaced from equilibrium – it
is trying to return to its start location
• It will overshoot the desired pitch and position a little before coming to rest
• The wheels travel faster (and farther) than the top plate during this oscillation
• The response will vary slightly depending on the payload and the controller gain schedule
used.
This figure shows the response of the RMP when it is displaced and released
from an equilibrium position. The velocity command is zero throughout.
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