Analysis of balance control methods based on inverted pendulum for legged robots

Alexander Denisov, Roman Iakovlev, Ilhshat Mamaev, Nikita Pavliuk, A. Ronzhin, V. Shishlakov
2017 MATEC Web of Conferences  
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
more » ... rphic robot Antares. Fig. 1. The kinematic model of robot Antares.
doi:10.1051/matecconf/201711302004 fatcat:fqzphuyjnjes5jtdacxtwb6idq