| Issue |
MATEC Web Conf.
Volume 113, 2017
12th International Scientific-Technical Conference on Electromechanics and Robotics “Zavalishin’s Readings” - 2017
|
|
|---|---|---|
| Article Number | 02004 | |
| Number of page(s) | 6 | |
| Section | Robotics and Automation | |
| DOI | https://doi.org/10.1051/matecconf/201711302004 | |
| Published online | 20 June 2017 | |
Analysis of balance control methods based on inverted pendulum for legged robots
1 SPIIRAS, Laboratory of Autonomous Robotic Systems, 199178 Saint-Petersburg, 14-th line of V.I., 39, Russia
2 KIT, Institute for Anthropomatics and Robotics, Intelligent Process Automation and Robotics Lab, Engler-Bunte-Ring 8, D-76131, Karlsruhe, Germany
* Corresponding author: denisov@iias.spb.su
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.
© The Authors, published by EDP Sciences, 2017
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