EAAI
2007
13 years 4 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 4 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
13 years 8 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
13 years 9 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
13 years 10 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
13 years 10 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
13 years 10 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
14 years 5 months 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...