# Simulation Analysis of Dynamic Balancing and Motion Control for the Upkie Wheeled Biped Robot

- Source: Guyuehome
- Published: 2026-10-17T15:37:00.000Z
- RoboHot: https://robohot.news/en/items/w4z239exnlk5h0wz57v452n0w
- Original: https://www.guyuehome.com/detail?id=2103383049392648193

## Summary

This article runs the Upkie wheeled biped robot's control system entirely in simulation, starting from the wheeled inverted pendulum model and constrained predictive control to explain the hierarchical structure of balancing and steering, and covering scenarios such as standing in place, acceleration and deceleration, differential steering, push recovery, and instability boundaries.