External and internal convertible (EIC) form-based motion control (i.e., EIC-based control) is one of the effective approaches for underactuated balance robots. By sequentially controller design, trajectory tracking of the actuated subsystem and balance of the unactuated subsystem can be achieved simultaneously. However, with certain conditions, there exists uncontrolled robot motion under the EIC-based control. We first identify these conditions and then propose an enhanced EIC-based control with a Gaussian process data-driven robot dynamic model. Under the new enhanced EIC-based control, the stability and performance of the closed-loop system is guaranteed. We demonstrate the GP-enhanced EIC-based control experimentally using two examples of underactuated balance robots.

翻译：外部和内部可转换（EIC）形式的运动控制（即基于EIC的控制）是欠驱动平衡机器人的有效方法之一。通过顺序控制器设计，可以实现驱动子系统的轨迹跟踪与非驱动子系统的平衡稳定。然而，在某些条件下，基于EIC的控制会导致机器人出现不可控运动。我们首先识别了这些条件，然后提出了一种基于高斯过程数据驱动机器人动力学模型的增强型EIC控制方法。在新的增强型EIC控制下，闭环系统的稳定性和性能得到了保证。我们通过两个欠驱动平衡机器人的实例，实验验证了高斯过程增强型EIC控制的效果。