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

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

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Methods of balance control for a legged robot, the model of which is presented as a two-section inverted pendulum, civil air patrol emergency services patch 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 mariya b vol 3 of the Russian anthropomorphic robot Antares.