Balancing Controller for a Four-Legged, Bipedal Walking Robot
نویسنده
چکیده
A controller is developed to balance a two-dimensional walking robot. The equations of motion for the robot, modelled as a double pendulum with pivots at the hip and contact foot, are derived, linearized, and arranged in statespace form. A Linear Quadratic Regulator is developed for the linearized model; its performance simulated using both the linearized and the complete, nonlinear dynamics. The regulator fails to stabilize a physical four-legged biped due to measurement difficulties, and recommendations for measurement and controller improvement are proposed in response.
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