Dynamic modelling and control of self-balancing one-legged robot

Dilesh Bipin Tank, Riady Siswoyo Jo, Hudyjaya Siswoyo Jo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

One-legged robot is a class of underactuated legged robots that has been a challenging system to develop and control. There are limitless possible configurations of such system, each with its own specific advantages and limitations. This paper presents the dynamic modelling of a single contact point one-legged robot based on Euler-Lagrange formulation. The obtained equations of motion are then used as basis to develop an experimental prototype and its balancing control system. The mechanical configuration used in the prototype allows the decoupling of the control systems on the coronal and sagittal planes. The experimental results are presented.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Automatic Control and Intelligent Systems 2018
PublisherIEEE
Pages19-23
Number of pages5
ISBN (Electronic)9781538656549
DOIs
Publication statusPublished - 6 Jan 2019
Event2018 IEEE International Conference on Automatic Control and Intelligent Systems - Shah Alam, Malaysia
Duration: 20 Oct 2018 → …

Conference

Conference2018 IEEE International Conference on Automatic Control and Intelligent Systems
Abbreviated titleI2CACIS 2018
Country/TerritoryMalaysia
CityShah Alam
Period20/10/18 → …

Keywords

  • Euler-Lagrange mechanics
  • Limb balancing
  • One-legged robot
  • Reaction wheel
  • Self-balancing system

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Optimization
  • Modelling and Simulation

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