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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.

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Volltext §
DOI: 10.5445/IR/1000071821
Originalveröffentlichung
DOI: 10.1051/matecconf/201711302004
Scopus
Zitationen: 5
Coverbild
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Zeitschriftenaufsatz
Jahr 2017
Sprache Englisch
Identifikator ISSN: 2261-236X
urn:nbn:de:swb:90-718214
KITopen-ID: 1000071821
Erschienen in MATEC web of conferences
Band 113
Seiten Art. Nr.: 02004
Bemerkung zur Veröffentlichung 12th International Scientific-Technical Conference on Electromechanics and Robotics "Zavalishin's Readings" 2017, St. Petersburg, Russia, 18th - 22nd April 2017
Nachgewiesen in Scopus
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