Linear inverted pendulum model (LIPM) is an effective and widely used simplified model for biped robots. However, LIPM includes only the single support phase (SSP) and ignores the double support phase (DSP). In this situation, the acceleration of the...
In this paper, a real-time balance control method is designed and implemented on a field-programmable gate array (FPGA) chip for a small-sized humanoid robot. In the proposed balance control structure, there are four modules: (1) external force detec...
This paper presents the simulation and calculation-based aspect of constructing a dynamically stable, self-balancing electric monowheel from first principles. It further goes on to formulate a reference model-based adaptive control structure in order...
For collaboration of humans and bipedal robots in human environments, this paper proposes a stability control method for dynamically modifiable bipedal walking using a capture point (CP) tracking controller. A reasonable reference CP trajectory for t...
Sustained uphill motion of two-wheeled self-balancing wheelchairs is challenging. Slope-induced gravity changes the equilibrium condition, driving-torque demand, and velocity response. This paper proposes a smoothly weighted hybrid control method. Th...
This paper is primarily focused on the robust control of an inverted pendulum system based on policy iteration in reinforcement learning. First, a mathematical model of the single inverted pendulum system is established through a force analysis of th...
This paper considers the balance control problems of a configurable inverted pendulum with an omni-directional wheeled mobile robot. The system consists of two parts. One is an inverted pendulum, and another one is an omni-directional wheeled mobile...
Stabilization and tracking problems for cart inverted pendulums under disturbances and uncertainties have posed significant challenges for control engineers. While various controllers have been designed for an inverted pendulum, they often overlook t...
The classical problem of stabilization of the controlled inverted pendulum is considered in the case of stochastic perturbations of the type of Poisson’s jumps. It is supposed that stabilized control depends on the entire trajectory of the pend...
This paper introduces a new scheme for sliding mode control using symmetry principles for a rotating inverted pendulum, with the possibility of extension of this control scheme to other dynamic systems. This was proven for swing up and stabilisation...
The cart–inverted pendulum system (CIPS) is a typical example of underactuated mechanical systems. For the CIPS with friction and disturbances, a gain-scheduled model predictive control method is proposed to achieve the upright stabilization ob...
The inverted pendulum represents a problem of considerable complexity in the field of systems control due to its unstable and nonlinear behavior. In this context, the objective of this research is to design and implement control algorithms for a QUBE...
This article addresses the problem of balancing an inverted spherical pendulum on a quadrotor. The full dynamic model is obtained via the Euler-Lagrange formalism, where the dynamics of the pendulum is coupled to the dynamics of the quadrotor, taking...
Modern education is characterized by diversity and the need for extensibility. Educational experimental platforms are rapidly evolving according to these factors. However, software and hardware are provided by major domestic manufacturers, which impo...
This research article tackles the control problem of an inverted pendulum, also known as the Furuta pendulum, mounted on a velocity-controlled robot manipulator in two configurations: the rotary pendulum and the translational pendulum. Differently fr...
This paper presents a systematic procedure for the control scheme design for a PVTOL aircraft system with an inverted pendular load, which is a nonlinear underactuated system. The control scheme is based on the use of angular movement as an artificia...
As the extension of traditional linear (or X) inverted pendulum (IP), X-Z IP is a multiple-input multiple-output (MIMO), underactuated, open-loop unstable, and nonlinear system. In the tracking control of the X-Z IP, the equilibrium point changes wit...
In this article, a model of an energy harvester, the mechanical part of which is an inverted pendulum, is proposed. We investigated the stability of a linearized system. It was proven that the stabilizing control of the pendulum, based on the feedbac...
The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by...
The double-inverted pendulum (DIP) constitutes a classical problem in mechanics, whereas the control methods for stabilizing around the equilibrium positions represent the classic standards of control system theory and various control methods in robo...
The use of metaheuristic algorithms has become very popular in recent years. One of their many applications is in tuning different controllers, especially those that would require extensive effort to tune manually. In some cases, due to the complexit...
Wheeled inverted-pendulum robots with movable upper structures and variable payloads exhibit configuration-dependent equilibrium drift and payload-dependent dynamic variation, which complicate balancing control. This paper proposes a gain-scheduled c...
This study introduces an innovative self-regulating intelligent optimal balancing control framework for inverted pendulum-type mechatronic platforms, designed to enhance reference tracking accuracy and improve disturbance rejection capability. The co...
In this paper, a pole-independent, single-input, multi-output explicit linear MPC controller is proposed to stabilize the fourth-order cart–inverted-pendulum system around the desired equilibrium points. To circumvent an obvious stability probl...
Accurate dynamic modeling is the foundation of every model-based control design for reaction-wheel stabilized systems, yet most published studies reproduce analytical derivations from scratch without reporting the practical decisions and configuratio...
The Euler-Type Universal Numerical Integrator (E-TUNI) is a discrete numerical structure that couples a first-order Euler-type numerical integrator with some feed-forward neural network architecture. Thus, E-TUNI can be used to model non-linear dynam...
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The gait and the Foot Placement Estimation (FPE) has recently been extended to 3-D spaces by adopting a specific form of a spherical inverted pendulum (SIP). The approach is very attractive, as it does not involve dynamics, but it is based solely on...
In this research, a proportional integral derivative regulator, a first-order sliding-mode regulator, and a second-order sliding-mode regulator are compared, for the regulation of two different types of mathematical model. A first-order sliding-mode...
This paper proposes a robust tracking control method for swing-up and stabilization of a rotational inverted pendulum system by applying equivalent input disturbance (EID) rejection. The mathematical model of the system was developed by using a Lagra...
This is the second part of a three-part paper. It extends to the free walking results of a previous work on postural equilibrium of a lower limb exoskeleton for rehabilitation exercises. A classical approach has been adopted to design gait (zero mome...
The linear parameter-varying (LPV) models have broad applications in advanced mathematics and modern control systems. This paper introduces a new method for controlling the LPV systems. This method includes the gain-scheduled state-feedback technique...
Attempting to make machines mimic human walking, grasping, balancing, and other behaviors is a deep exploration of cognitive science and biological principles. Due to the existing prediction lag problem, an error compensation mechanism that integrate...
This work presents the realization of a complicated stabilization problem for a three inverted pendulum links-based mobile robot. The actuators of the mobile robot are direct current motors that have tachometer couplings to measure both the position...
It is difficult to realize the stable control of a wheeled biped robot (WBR), as it is an underactuated nonlinear system. To improve the balance and dynamic locomotion capabilities of a WBR, a decoupled control framework is proposed. First, the WBR i...
With the feet of a biped robot attached insecurely to a terrain, its stability is strongly affected by the characteristics of the terrain on which it runs. Therefore, for stable bipedal running, online motion control based on the states of the robot...
The computational complexity of humanoid robot balance control is reduced through the application of simplified kinematics and dynamics models. However, these simplifications lead to the introduction of errors that add to other inherent electro-mecha...
This paper proposes an online uniform foot location planning method (UPMPC) based on model predictive control (MPC) for solving the problem of large posture changes during gait transitioning. This method converts the foot location planning into a dis...
A humanoid robot has a similar form to humans, allowing it to be deployed directly into many existing infrastructures built for people, making it highly applicable to future industries or services. However, generating motion is challenging, and it is...
The extended dynamic mode decomposition algorithm is a tool for accurately approximating the point spectrum of the Koopman operator. This algorithm provides an approximate linear expansion of non-linear discrete-time systems, which can be useful for...
In this paper, we demonstrate a method for quadruped dynamic locomotion based on centroidal momentum control. Our method relies on a quadratic program that solves an optimal control problem to track the reference rate of change of centroidal momentum...
In this paper, experimental results about the performance of a Takagi–Sugeno Fuzzy Controller (TSFC) for an EV3 Ballbot Robotic System (EV3BRS) are reported. The physical configuration of the EV3BRS has the form of an inverted pendulum mounted...
The control of a biped robot is a challenging task due to the hard-to-stabilize dynamics. Generating a suitable walking reference trajectory is a key aspect of this problem. This article proposes a novel method of generating walking patterns for bipe...
The article aims to describe stages of development of a mobile, anthropomorphic robot. The individual phases of the bio-inspired model-based design of a two-legged robot are described, from the analysis of human walking patterns, through the creation...
For a forward-bending biped robot with 10 degrees of freedom on its legs, a new control framework of MPC-DCM based on force and moment is proposed in this paper. Specifically, the Diverging Component of Motion (DCM) is a stability criterion for biped...
Structural dynamic modeling is a key element in the analysis of building behavior for different environmental factors. Having this in mind, the authors propose a simple nonlinear model for studying the behavior of buildings in the case of earthquakes...
In this paper, for the first time, experimental tests of complete offline walking gaits generated by the essential model are performed. This model does not make simplifications in the dynamics of the robot, and its main advantage is the definition of...
In this paper, we address the modeling, simulation, and control of a rotary inverted pendulum (RIP). The RIP model assembled via the MATLAB (Matlab 2021a)®/Simulink (Simulink 10.3) Simscape (Simscape 7.3)™ environment demonstrates a high de...
This paper investigates uncertainty-resilient stabilization of an inverted pendulum on a cart (IPOC) using an interval type-2 Takagi–Sugeno (IT2 T–S) fuzzy model and an LQR-based control framework. The IPOC dynamics are represented as a w...
This paper presents a novel framework of hydraulic-driven biped robot. The target biped robot is a humanoid robot NWPUBR-1 with 12 degrees of freedom (DOF), and its dimensions are close to that of an average male. The joint axis adopts the modular st...
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