An alternative to the Iterative Newton-Euler or linked segment model was developed to compute lower extremity joint moments using the mechanics of the double pendulum. The double pendulum model equations were applied to both the swing and stance phases of locomotion. Both the Iterative Newton-Euler and double pendulum models computed virtually identical joint moment data over the entire stridec...

Properties of simple strategies for swinging up an inverted pendulum are discussed. It is shown that the behavior critically depends on the ratio of the maximum acceleration of the pivot to the acceleration of gravity. A comparison of energy based strategies with minimum time strategy gives interesting insights into the robustness of minimum time solutions.

Various behavior types of reaction forces and Lagrange multipliers for the case mechanical systems with configuration space singularities are studied in this paper. The motion a one-dimensional double pendulum (or singular pendulum) transversal point or first order tangency is considered. Properties depends on constraint line which free vertex moves along. Configuration could be represented by ...

In this paper, the decoupled neural network reference compensation technique (DRCT) is applied to the control of a two degrees-of-freedom inverted pendulum mounted on an x-y table. Neural networks are used as auxiliary controllers for both the x axis and y axis of the PD controlled inverted pendulum. The DRCT method known to compensate for uncertainties at the trajectory level is used to contro...

Inspired by the experimental results of Cuevas et al. [Phys. Rev. Lett. 102, 224101 (2009)], we consider theoretically the behavior of a chain of planar rigid pendulums suspended in a uniform gravitational field and subjected to a horizontal periodic driving force applied to the pendulum pivots. We characterize the motion of a single pendulum, finding bistability near the fundamental resonance ...

This paper proposes a model called the gravitycompensated inverted pendulum mode (G CIPM) to generate a biped locomotion pattern that is similar to the one generated by the linear inverted pendulum mode, but accommodates the free leg dynamics based upon its predetermined trajectory. When the biped locomotion based upon the linear inverted pendulum mode is applied to real biped robots, the stabi...

We design an exact output tracking control law for a four degree of freedom spherical inverted pendulum based on the nonlinear stable inversion tool proposed by Devasia, Chen and Paden. The pendulum is a slim cylindrical beam attached to a horizontal plane via a universal joint; the joint is free to move in the plane under the influence of a planar force. The upright position is an unstable equ...

The search for ever smaller violations of Einstein’s weak equivalence principle continues to be an important experimental goal at the close of the 20th century, with string theory providing new motivations. Currently, the most sensitive laboratory and terrestrial-scale tests are carried out with instrumentation based on the 18th century concept of the torsion pendulum, but not with 18th century...

A four mass torsion pendulum facility for testing of the LISA GRS is under development in Trento. With a LISA-like test mass suspended off-axis with respect to the pendulum fiber, the facility allows for a direct measurement of surface force disturbances arising in the GRS. We present here results with a prototype pendulum integrated with very large-gap sensors, which allows an estimate of the ...

The adaptive backstepping controller for inverted pendulum is designed by using the general motion control model. Backstepping is a novel nonlinear control technique based on the Lyapunov design approach, used when higher derivatives of parameter estimation appear. For easy parameter adaptation, the mathematical model of the inverted pendulum converted into the motion control model. This conver...