Inverted pendulum
Related papers: 20
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The inverted pendulum is a classic dynamic system consisting of a mass balanced atop a movable base, inherently unstable and requiring active control to maintain upright equilibrium. In robotics and AI, it serves as both a physical platform and a mathematical abstraction for modeling and controlling systems where balance is critical. Bipedal humanoid robots are frequently approximated as linear inverted pendulums, allowing engineers to simplify complex multi-body dynamics into tractable models for generating stable walking gaits, predicting fall recovery, and computing foot placement strategies. Concepts such as the Zero Moment Point and Capture Point emerge directly from inverted pendulum analysis. Beyond legged locomotion, the model applies to self-balancing wheeled robots, prosthetic limbs, and underactuated manipulators like the Pendubot. It also serves as a standard benchmark for evaluating control strategies—including sliding-mode, neural network, and reinforcement learning approaches—because its nonlinear, unstable nature exposes the true capabilities of a controller. Its combination of analytical tractability and practical relevance makes it one of the most foundational and widely studied systems in robotics and control engineering.
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Capture Point: A Step toward Humanoid Push Recovery
Jerry Pratt, John Carff, S. Drakunov, Ambarish Goswami
Citations: 1098 • 2006
The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kazuhito Yokoi, Hirohisa Hirukawa
Citations: 1036 • 2002
The six determinants of gait and the inverted pendulum analogy: A dynamic walking perspective
Arthur D. Kuo
Citations: 567 • 2007
A Study of the Passive Gait of a Compass-Like Biped Robot
Ambarish Goswami, Benoît Thuilot, Bernard Espiau
Citations: 548 • 1998
Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models
Twan Koolen, Tomas de Boer, John R. Rebula, Ambarish Goswami, Jerry Pratt
Citations: 479 • 2012
Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control
Tomomichi Sugihara, Yoshihiko Nakamura, H. Inoue
Citations: 460 • 2003
Dynamic Walk of a Biped
Hirofumi MIURA, Isao Shimoyama
Citations: 450 • 1984
<i>Non-linear Control for Underactuated Mechanical Systems</i>
I. Fantoni, Rogelio Lozano, SC Sinha
Citations: 440 • 2002
Biped walking stabilization based on linear inverted pendulum tracking
Shuuji Kajita, Mitsuharu Morisawa, Ken Miura, Shin’ichiro Nakaoka, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Kazuhito Yokoi
Citations: 433 • 2010
Limit Cycles in a Passive Compass Gait Biped and Passivity-Mimicking Control Laws
Ambarish Goswami, Bernard Espiau, Ahmed Keramane
Citations: 426 • 1997
Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode
Shuuji Kajita, Kenichiro Tani
Citations: 420 • 2002
RHex: A Biologically Inspired Hexapod Runner
Richard Altendorfer, N. Moore, M. Buehler, H.B. Brown, D. McMordie, Uluc̣ Saranlı, Robert J. Full, Daniel E. Koditschek
Citations: 408 • 2001
Design and Implementation of Integral Sliding-Mode Control on an Underactuated Two-Wheeled Mobile Robot
Jian‐Xin Xu, Zhao-Qin Guo, Tong Heng Lee
Citations: 316 • 2013
A realtime pattern generator for biped walking
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kazuhito Yokoi, Hirohisa Hirukawa
Citations: 305 • 2003
Animation of dynamic legged locomotion
Marc H. Raibert, Jessica K. Hodgins
Citations: 297 • 1991
The Pendubot: a mechatronic system for control research and education
Mark W. Spong, Daniel J. Block
Citations: 290 • 2002
DASH: A dynamic 16g hexapedal robot
Paul Birkmeyer, Kevin Peterson, Ronald S. Fearing
Citations: 276 • 2009
Compass-Like Biped Robot Part I : Stability and Bifurcation of Passive Gaits
Ambarish Goswami, Benoît Thuilot, Bernard Espiau
Citations: 263 • 1996
Experience Replay for Real-Time Reinforcement Learning Control
S Charles Adam, Lucian Buşoniu, Robert Babuška
Citations: 260 • 2011
Biped robot walking using gravity-compensated inverted pendulum mode and computed torque control
Joo Hyun Park, K.D. Kim
Citations: 253 • 2002