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EAAI
2007
125views more  EAAI 2007»
9 years 10 months ago
Nearly optimal neural network stabilization of bipedal standing using genetic algorithm
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...
Reza Ghorbani, Qiong Wu, G. Gary Wang
ENGL
2008
153views more  ENGL 2008»
9 years 10 months ago
Neural Network NARMA Control of a Gyroscopic Inverted Pendulum
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...
F. Chetouane, S. Darenfed
ICRA
1999
IEEE
81views Robotics» more  ICRA 1999»
10 years 3 months ago
Stabilization of the Pendulum on a Rotor Arm by the Method of Controlled Lagrangians
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...
Anthony M. Bloch, Naomi Ehrich Leonard, Jerrold E....
ICRA
2002
IEEE
109views Robotics» more  ICRA 2002»
10 years 3 months ago
A Realtime Pattern Generator for Biped Walking
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...
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyos...
ICRA
2005
IEEE
123views Robotics» more  ICRA 2005»
10 years 4 months ago
A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait
— 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...
Taku Komura, Howard Leung, Shunsuke Kudoh, James K...
IROS
2007
IEEE
150views Robotics» more  IROS 2007»
10 years 5 months ago
Monopedal running control: SLIP embedding and virtual constraint controllers
— 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...
Ioannis Poulakakis, J. W. Grizzle
ICNSC
2007
IEEE
10 years 5 months ago
Unstable Object Stabilization and Control Using a DD Robot Manipulator
— 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...
Zhao-Hui Jiang, Kouya Kamise
MICCAI
2009
Springer
10 years 12 months ago
Using Real-Time fMRI to Control a Dynamical System by Brain Activity Classification
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...
Anders Eklund, Henrik Ohlsson, Mats T. Andersson...
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