Fig. 10From: BBot, a hopping two-wheeled robot with active airborne controlDetailed feedback controller scheme for BBot. 4 user reference input left wheel velocity \(\dot{\theta }_{wleft}\), right wheel velocity \(\dot{\theta }_{wright}\), body tilt angle \(\theta _b\) and body tilt angular velocity \(\dot{\theta }_b\) are used to control the motion of BBotBack to article page