 He developed a simulation project with Microsoft Excel to easily simulate the system.As part of the research carried out inside the Space Research Group of the University of Alcalá (SRG-UAH), Spain, the work team, specialised in optimal control and planning applied to non-linear dynamic systems, published in 2012 the article called "A Monoball Robot Based on LEGO Mindstorms" This article describes the math model and trajectory control as a baseline to unstable and non-linear control systems.Yorihisa Yamamoto (Japan) inspired by Tomás Arribas's project, developed a ballbot using LEGO Mindstorms NXT in 2009
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