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http://dx.doi.org/10.5302/J.ICROS.2012.18.1.028

Stabilization of a Two-link Inverted Pendulum with a Rate Gyro  

Cho, Baek-Kyu (Kookmin University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.1, 2012 , pp. 28-34 More about this Journal
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.
Keywords
inverted pendulum; balancing; reactive momentum; rate gyro;
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Times Cited By KSCI : 1  (Citation Analysis)
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