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 la rams crop top 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 here will be used in the development of the Russian anthropomorphic robot Antares.