Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control

2003 ◽  
Author(s):  
T. Sugihara ◽  
Y. Nakamura ◽  
H. Inoue
Keyword(s):  
Real Time ◽  
Inverted Pendulum ◽  
Motion Generation

scholarly journals Real-Time Swing-up Control of Non-Linear Inverted Pendulum using Lyapunov based Optimized Fuzzy Logic Control

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Arpit Jain ◽  
Abhinav Sharma ◽  
Vibhu Jately ◽  
Brian Azzopardi ◽  
Sushabhan Choudhury
Keyword(s):  
Fuzzy Logic ◽  
Real Time ◽  
Fuzzy Logic Control ◽  
Inverted Pendulum ◽  
Logic Control ◽  
Non Linear

Study on the Motion Generation Method of Gun Training Simulator

2012 ◽  
Vol 182-183 ◽  
pp. 1673-1680
Author(s):  
Yu Wang ◽  
Ri Na Su
Keyword(s):  
Real Time ◽  
Driving Force ◽  
Motion Simulation ◽  
Motion Generation ◽  
Motion Platform ◽  
Training Simulator ◽  
Simulation Experiments ◽  
Optimize Design ◽  
Homogeneous Matrix ◽  
And Control

A kind of 3-RPS and 3-DOF parallel robotic mechanisms is used as motion-sensible-platform of gun training simulator to implement the motion simulation. Its dynamics is analyzed and driving force of joint is gained. This paper introduces the study on motion generation of gun training simulator. The moving model of gun is established on the basis of the model of vehicle. We solve the pose of gun by applying the theory of homogeneous matrix. In order to ensure actuators moving at a preset speed and enable the motion-sensible-platform to perform a real-time moving posture simulation of a wheeled gun vehicle in running, the speed equation of actuator is given. The feasibility of models was tested through the simulation experiments. All of these works are beneficial to optimize design and control realization of motion platform structure.

scholarly journals Real-time implementation of MPC for tracking in embedded systems: Application to a two-wheeled inverted pendulum

2021 ◽  
Author(s):  
Pablo Krupa ◽  
Jose Camara ◽  
Ignacio Alvarado ◽  
Daniel Limon ◽  
Teodoro Alamo
Keyword(s):  
Embedded Systems ◽  
Real Time ◽  
Inverted Pendulum ◽  
Wheeled Inverted Pendulum

Intelligent decoupled controller for mobile inverted pendulum real-time implementation

2017 ◽  
Vol 32 (6) ◽  
pp. 3809-3820 ◽  
Author(s):  
Chih-Hui Chiu ◽  
Ya-Fu Peng ◽  
Chung-Hsun Sun
Keyword(s):  
Real Time ◽  
Inverted Pendulum

scholarly journals Real-Time Optimal Control for Rotary Inverted Pendulum

2009 ◽  
Vol 6 (6) ◽  
pp. 1106-1115 ◽  
Author(s):  
Viroch Sukontanak ◽  
Manukid Parnichkun
Keyword(s):  
Optimal Control ◽  
Real Time ◽  
Inverted Pendulum ◽  
Time Optimal Control ◽  
Time Optimal ◽  
Rotary Inverted Pendulum
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