EAAI
2007
13 years 11 months ago
2007
In this work, stability control of bipedal standing is investigated. The biped is simplified as an inverted pendulum with a foot-link. The controller consists of a general regres...
ENGL
2008
13 years 11 months ago
2008
The objective herein is to demonstrate the feasibility of a real-time digital control of an inverted pendulum for modeling and control, with emphasis on nonlinear auto regressive m...
ICRA
1999
IEEE
14 years 3 months ago
1999
IEEE
This paper obtains feedback stabilization of an inverted pendulum on a rotor arm by the "method of controlled Lagrangians". This approach involves modifying the Lagrangi...
ICRA
2002
IEEE
14 years 4 months ago
2002
IEEE
For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane. T...
ICRA
2005
IEEE
14 years 4 months ago
2005
IEEE
— In this paper, we propose a new method for biped humanoids to compensate for large amounts of angular momentum induced by strong external perturbations applied to the body duri...
IROS
2007
IEEE
14 years 5 months ago
2007
IEEE
— Two feedback controllers that induce stable running gaits on a three-degree-of-freedom asymmetric hopper, termed the Asymmetric Spring Loaded Inverted Pendulum (ASLIP), see Fig...
ICNSC
2007
IEEE
14 years 5 months ago
2007
IEEE
— This paper addresses the issue of robotic manipulation of multi-DOF inverted pendulums. A control scheme is designed using Lyaponov stability theory for both the robot position...
MICCAI
2009
Springer
15 years 9 days ago
2009
Springer
We present a method for controlling a dynamical system using real-time fMRI. The objective for the subject in the MR scanner is to balance an inverted pendulum by activating the le...