Software platform for development of multimodular robotic systems with asynchronous multithreaded control

Ivin, Arseniy; Mikhalchenko, Daniil

doi:10.23919/fruct.2017.8071299

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2017

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“…The main parameters influencing for stable motion of legged robot are discovered. The future work will be related to the integration of the programming solutions of balance control method to the robotic core of the robot Antares [20][21][22].…”

Section: Discussionmentioning

confidence: 99%

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

Denisov

Iakovlev

Mamaev³

et al. 2017

MATEC Web Conf.

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Abstract. Methods of balance control for a legged robot, the model of which is presented as a two-section inverted pendulum, 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 of the Russian anthropomorphic robot Antares.

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Section: Discussionmentioning

confidence: 99%