Research on the Model of the Inverted Pendulum and Its Control Based on Biped Robot

摘要

Many researchers have been encouraged to investigate the design, posture and stability of biped robots in order to replicate the anthropoid gait. In this paper we develop a simple model of biped robot, which is based on the human’s walking course and the human’s physical structure. Then we have the research on the gait planning of biped robot, and we achieve the comparability between the biped walking and the double inverted pendulum. So we may simulate the biped walking using the balancing of the double inverted pendulum.