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

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

Blog Article

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 Motion Raceworks Manufactured Parts operator method; the method of natural synergies; the method of Fridge Hose Seal 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.