Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Stabilization of a Two-link Inverted Pendulum with a Rate Gyro

자이로를 이용한 두 링크 도립진자의 자세안정화

  • 조백규 (국민대학교 기계시스템공학부)
  • Received : 2011.11.17
  • Accepted : 2011.12.27
  • Published : 2012.01.01
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Abstract

Human generally uses three methods to keep balance. One of them is using reactive momentum such as swing an upper body or arms. In this study, we proposed a balancing controller for the reactive momentum method using an inverted pendulum. We simplified a human or a humanoid robot as a two-link inverted pendulum having two edges. In addition, we proposed a distinctive condition for controller transition. If a human is pushed, he has to change a balancing controller from using an ankle torque to using a reactive momentum or changing foot placement. When the balancing controller is changed from using an ankle torque to using a reactive momentum, it is required a proper timing to keep a stability and make smooth movement. In the experiment, the proposed controller and distinctive condition were verified.

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References

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