Passive dynamic walking refers to a class of bipedal machines that are able to walk down a gentle slope with no external control or energy input. The legs swing naturally as pendula, and conservation of angular momentum governs the contact of the swing foot with the ground. Previous machines have been limited to planar motions. We extend the planar motions to allow for tilting side to side (rol...

This paper describes the real-time modeling of 3D skeletal motion with balancing properties. Our goal is to mimic human responsiveness when external forces are applied to the model. To achieve this we use an inverted pendulum as a basis for achieving a self-balancing model. We demonstrate responsiveness in stepping and posture control via a simplified biped skeletal model using our technique.

In this paper I am discussing the modeling and simulation study of basically two control strategies of an inverted pendulum system are presented. The inverted pendulum represents a challenging control problem, which continually moves toward an uncontrolled state. Certain modern techniques are now available because of the development of artificial intelligence and soft computing methods. Fuzzy c...

Humans and humanoid robots are often modeled with different types of inverted pendulum models in order to simplify the dynamic analysis of gait, balance and fall. We have earlier introduced the Reaction Mass Pendulum (RMP), an extension of the traditional inverted pendulum models, which explicitly captures the variable rotational inertia and angular momentum of the human or humanoid. In this pa...

This paper presents tele-operated control of an inverted pendulum system for intelligent control education. Position commands for the pendulum to follow are given by a joystick through network. The pendulum is controlled by two methods; a PID control method and a neural network control method. Results are compared by experimental studies.

Analysis of attitude stabilization of a power-aided unicycle points out that a unicycle behaves like an inverted pendulum subject to power constraint. An LQR-mapped fuzzy controller is introduced to solve this nonlinear issue by mapping LQR control reversely through least square and Sugeno-type fuzzy inference. The fuzzy rule surface after mapping remains optimal.

The success of evolutionary methods on standard control learning tasks has created a need for new benchmarks. The classic pole balancing problem is no longer di cult enough to serve as a viable yardstick for measuring the learning e ciency of these systems. In this paper we present a more di cult version to the classic problem where the cart and pole can move in a plane. We demonstrate a neuroe...

For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane. This analysis leads us a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (3D-LIPM). Geometric nature of trajectories under the 3D-LIPM is discussed, and an algorithm for walking pattern genera...

The spring-loaded inverted pendulum (SLIP), or monopedal hopper, is an archetypal model for running in numerous animal species. Although locomotion is generally considered a complex task requiring sophisticated control strategies to account for coordination and stability, we show that stable gaits can be found in the SLIP with both linear and "air" springs, controlled by a simple fixed-leg rese...

The use of Pyragas-Type controller proved interest in the stabilization of unstable periodic orbits. The stabilization problem of a balancing inverted pendulum on an horizontally moving cart by the use of such a controller is considered. The main objective of the paper is to propose delayed control law containing only proportional gains able to stabilize the inverted pendulum by avoiding the ex...