In this paper, we report on a new stability analysis for hybrid legged locomotion systems based on factorization of return maps. We apply this analysis to a family of models of the Spring Loaded Inverted Pendulum (SLIP) with different leg recirculation strategies. We obtain a necessary condition for the asymptotic stability of those models, which is formulated as an exact algebraic expression d...

This paper presents an interactive locomotion controller using motion capture data and an inverted pendulummodel (IPM). The motion data of a character is decomposed into those of upper and lower bodies, which are then dimension-reduced via what we call hierarchical Gaussian process dynamical model (H-GPDM). The locomotion controller receives the desired walking direction from the user. It is in...

The approximation of humanoid robot by an inverted pendulum is one of the most used models to generate a stable walking patterns using a planned Zero Moment Point (ZMP) trajectory. However, on account of the difference between the multi-body model of the humanoid robot and the simple inverted pendulum model, the ZMP error might be bigger than the polygon of support and the robot falls down. To ...

In this paper modeling of an inverted pendulum is done using Euler – Lagrange energy equation for stabilization of the pendulum. The controller gain is evaluated through state feedback and Linear Quadratic optimal regulator controller techniques and also the results for both the controller are compared. The SFB controller is designed by Pole-Placement technique. An advantage of Quadratic Contro...

this paper presented comparison of the time specification performance between two type of controller for a Double Inverted Pendulum system. Double Inverted Pendulum is a non-linear ,unstable and fast reaction system. DIP is stable when its two pendulums allocated in vertically position and have no oscillation and movement and also inserting force should be zero. The objective is to determine th...

in this paper standing balance control of a biped with toe-joint is presented. the model consists of an inverted pendulum as the upper body and the foot contains toe-joint. the biped is actuated by two torques at ankle-joint and toe-joint to regulate the upper body in upright position. to model the interaction between foot and the ground, configuration constraints are defined and utilized. to s...

In this paper standing balance control of a biped with toe-joint is presented. The model consists of an inverted pendulum as the upper body and the foot contains toe-joint. The biped is actuated by two torques at ankle-joint and toe-joint to regulate the upper body in upright position. To model the interaction between foot and the ground, configuration constraints are defined and utilized. To s...

One of the challenging tasks concerning two wheeled inverted pendulum (TWIP) mobile robot is balancing its tilt to upright position, this is due to its inherently open loop instability. This paper presents an experimental comparison between model based controller and non-model based controllers in balancing the TWIP mobile robot. A Fuzzy Logic Controller (FLC) which is a non-model based control...

A cart with two independent inverted pendula, called a dual-inverted-pendulum system, is analyzed and compared to the single-inverted-pendulum system using classical linear methods. Using only the angles of the pendula and the position of the cart, a classical controller is designed that stabilizes the pendula in the inverted position with the cart at the center of the track. Simulations of the...