The article centers round the problem of design a feedback control for the control moment gyroscope (CMG)-actuated inverted pendulum with online equilibrium revision after the center of mass displacement. The methodology for the control synthesis is the Linear Quadratic Regulator. The equations of motion for the model of the inverted pendulum are derived. The control is synthetized and implemented both in an experimental plant and in a simulation model. The results of the experiment and simulation show the reliability of the synthetized control, which is proved to be able to deal with the center of mass displacement.
Demands on leg degrees of freedom and control precision for bipedal robotics are steadily increasing, especially for the tasks involving walking on a rough terrain. In this paper we present an alternative, as well as a working proof-of-concept. Meet gyrubot: a 5-link almost planar bipedal robot with a torso complemented by a nonanthropomorphic stabilization system, capable of blindly walking through uneven areas. Despite being almost planar, the robot does not need any support in the frontal plane! This paper describes the mechanical design and the architecture of the controllers. We also provide the experimental evidence of the ability of gyrubot to navigate across non-flat terrains.
The article presents a synthesis technique for controlling the stabilization of a reverse pendulum, which does not require repeated code generation when making changes to the parameters of the control object. The problem of developing a feedback control system for a reverse pendulum controlled by a gyrodine is considered. The main tool for developing a control system is a combination of a real-time control system based on STM32 and an external computer based on ROS.
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