MATEC Web Conf.
Volume 113, 201712th International Scientific-Technical Conference on Electromechanics and Robotics “Zavalishin’s Readings” - 2017
|Number of page(s)||6|
|Section||Robotics and Automation|
|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: firstname.lastname@example.org
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
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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