Marco Kanneworff

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About

Marco Kanneworff is a robotics researcher whose work focuses on the control and motion generation of non-minimum phase systems, particularly Wheeled Inverted Pendulum (WIP) robots. His major contribution lies in developing a whole-body control architecture that enables these inherently unstable platforms to generate stable, task-oriented motions. Kanneworff’s approach addresses the fundamental challenge of WIP robots: that task execution is subordinate to maintaining balance. By integrating feedback control with task-space objectives, his framework allows for coordinated whole-body motions that preserve stability while performing complex maneuvers. His most-cited paper, "Task-Oriented Generation of Stable Motions for Wheeled Inverted Pendulum Robots" (2022), has garnered 3 citations to date. While still early in his career, Kanneworff’s work is notable for its practical approach to a difficult control problem, providing a foundation for future applications in mobile manipulation and service robotics where dynamic balancing is critical. His research bridges the gap between theoretical control theory and real-world robotic systems.