External and Internal Convertible

External and Internal Convertible (EIC) form-based control is a method for controlling underactuated balance robots, aiming to simultaneously achieve trajectory tracking and balance control. Current research focuses on addressing limitations of standard EIC control, which can lead to uncontrolled robot motion under certain conditions, by incorporating Gaussian Process (GP)-based learning to improve robustness and stability. This work is significant for advancing control strategies in robotics, particularly for systems with fewer actuators than degrees of freedom, leading to more reliable and efficient control of complex robotic systems.