RollerStandUp — getting back onto the wheels

Mjlab-RollerStandUp-Flat-MicroDuck

Getting up off the floor and back onto the wheels after a fall.

Much harder than standing up in walk mode

When StandUp rises on level ground, the soles give a stable contact patch. With wheels fitted, the contact points roll.

The policy has to push the body up while stopping the wheels underfoot from escaping — it is the problem of standing up while balanced on ball bearings.

It is what makes roller mode practical

Without this policy, one fall on wheels means somebody has to pick the robot up. With it, roller mode can run as autonomously as walk mode.