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

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Denisov, A.; Iakovlev, R.; Mamaev, I.; Pavliuk, N.; (2017)
  • Publisher: KIT, Karlsruhe
  • Journal: issn: 2261-236X 2261-236X
  • Related identifiers: doi: 10.1051/matecconf/201711302004
  • Subject: TA1-2040 | Engineering (General). Civil engineering (General) | DATA processing & computer science
    • ddc: ddc:004
    arxiv: Computer Science::Robotics

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 natura... View more
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