Related papers: An inverted pendulum with a springy control as a m…
Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which…
This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modulation. These additional features arise naturally in…
The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…
We present an experimental setup to demonstrate normal modes and symmetry breaking in a two-dimensional pendulum. In our experiment we have used two modes of a single oscillator to demonstrate normal modes, as opposed to two single…
This paper investigates the potential for stabilizing an inverted pendulum without electric devices, using gravitational potential energy. We propose a wheeled mechanism on a slope, specifically, a wheeled double pendulum, whose second…
In this paper, a novel recurrent adaptive backstepping optimal control strategy for a single inverted pendulum system is studied. By this method, an inverted pendulum is stabilized using projection recurrent neural network-based adaptive…
Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…
We apply methods of the so-called `inverse problem of the calculus of variations' to the stabilization of an equilibrium of a class of two-dimensional controlled mechanical systems. The class is general enough to include, among others, the…
The behavior of a stationary inverted point mass pendulum pivoted at its lower end in a gravitational potential is studied under the influence of statistical fluctuations. It is shown using purely classical equations that the pendulum…
Human and humanoid posture control models usually rely on single or multiple degrees of freedom inverted pendulum representation of upright stance associated with a feedback controller. In models typically focused on the action between…
We consider a classical spring-mass model of human running which is built upon an inverted elastic pendulum. Based on our previous results concerning asymptotic solutions for large spring constant (or small angle of attack), we construct…
The scope of inverted pendulum has been widely studied as one of the notable research with respect to standing in balance. The concept of this pendulum is similar to missile guidance, meaning that the center of drag is ahead that of…
Pendulums are simple mechanical systems that have been studied for centuries and exhibit many aspects of modern dynamical systems theory. In particular, the double pendulum is a prototypical chaotic system that is frequently used to…
We consider a parametrically forced pendulum with a vertically oscillating suspension point. It is well known that, as the amplitude of the vertical oscillation is increased, its inverted state (corresponding to the vertically-up…
Bipedal locomotion is a phenomenon that still eludes a fundamental and concise mathematical understanding. Conceptual models that capture some relevant aspects of the process exist but their full explanatory power is not yet exhausted. In…
We consider a classical problem of control of an inverted pendulum by means of a horizontal motion of its pivot point. We suppose that the control law can be non-autonomous and non-periodic w.r.t. the position of the pendulum. It is shown…
We study dynamics of an wheeled inverted pendulum under a proportional-integral-derivative controller on horizontal, inclined and soft surfaces. An oscillatory area and conditions of the stability for the control are shown on the phase…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
This paper shows the study of interesting mechanical properties of Wilberforce pendulum. Analyzing qualitatively of the pendulum, it is able to know how the phenomenon occurs. By setting of the quantitative model, equation of the motion is…
A double inverted pendulum plant has been in the domain of control researchers as an established model for studies on stability. The stability of such as a system taking the linearized plant dynamics has yielded satisfactory results by many…