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Analysis of balance control methods based on inverted pendulum for legged robots

Denisov, A.; Iakovlev, R.; Mamaev, I.; Pavliuk, N.

Abstract:
Methods of balance control for a legged robot, the model of which is presented as a two-section inverted pendulum, are considered. The following balance methods for humanoid robots are analysed: the parallel algorithm of the network operator method; the method of natural synergies; the method of fuzzy control, the spherical inverted pendulum mode, a dual length linear inverted pendulum method. The best of these methods will be used in the development of the Russian anthropomorphic robot Antares.


Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Zeitschriftenaufsatz
Jahr 2017
Sprache Englisch
Identifikator DOI: 10.1051/matecconf/201711302004
ISSN: 2261-236X
URN: urn:nbn:de:swb:90-718214
KITopen ID: 1000071821
Erschienen in MATEC web of conferences
Band 113
Seiten Art. Nr.: 02004
Lizenz CC BY 4.0: Creative Commons Namensnennung 4.0 International
Bemerkung zur Veröffentlichung 12th International Scientific-Technical Conference on Electromechanics and Robotics "Zavalishin's Readings" 2017, St. Petersburg, Russia, 18th - 22nd April 2017
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