Abstract: A method and apparatus for determining the mass moment of inertia of a given object is disclosed, The apparatus is a mass moment of inertia platform whereon objects to be measured can be placed. The platform uses flex pivots as torsional springs and the method ensures the flex pivots are procured and assembled in such a way so as to limit flex pivot misalignment systemic errors thereby resulting in a highly accurate and low-cost apparatus for measuring the mass moment of inertia.

Abstract: An overturn prevention control device includes a bicycle robot capable of freely laterally inclining, an angular velocity sensor mounted on the bicycle robot such that a detection axis thereof extends in a substantially longitudinal direction of the bicycle robot, a motor mounted on the body such that a rotating shaft thereof extends in a substantially longitudinal direction of the body, a rotation sensor that detects a rotational position or a rotational speed of the motor, and an inertial rotor coupled to the rotating shaft of the motor. The overturn prevention control device corrects inclination of the bicycle robot by rotating the inertial rotor using the motor and by utilizing a reaction torque occurring when the inertial rotor is rotated. The overturn prevention control device further includes an inclination angle estimating portion arranged to estimate an inclination angle relative to a balanced state.

Abstract: A device for measuring the inertia tensor of a rigid body at least consists of a rigid body (11), the inertia tensor of which is to be measured, at least one suspension means (20) with respect to at least one fixed point which sets at least one degree of fixation, excitation means (30) for causing the movement of the rigid body (11), as well as a movement detection group (40) and a data transmission group (50) to a numerical processor (60) for registering the data and executing a parameter identification procedure based upon a mathematical model of the rigid body suspended like a pendulum, suitable for obtaining the six components of the inertia tensor.