Neural Network-Based Motion Control of an Underactuated Wheeled Inverted Pendulum Model

The balance of standing humans is usually explained by the inverted pendulum model. The subject invokes a horizontal ground–reaction force in this model and controls it by changing the location of the centre of pressure under the foot or feet. In experiments I showed that humans are able to stand on a ridge of only a few millimetres wide on one foot for a few minutes. In the present paper I investigate whether the inverted pendulum model is able to explain this achievement. I found that the centre of mass of the subjects sways beyond the surface of support, rendering the inverted pendulum model inadequate. Using inverse simulations of the dynamics of the human body, I found that hip–joint moments of the stance leg are used to vary the horizontal component of the ground–reaction force. This force brings the centre of mass back over the surface of support. The subjects generate moments of force at the hip–joint of the swing leg, at the shoulder–joints and at the neck. These moments work in conjunction with a hip strategy of the stance leg to limit the angular acceleration of the head–arm–trunk complex. The synchrony of the variation in moments suggests that subjects use a motor programme rather than long latency reflexes.

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The Condition of Dynamic Stability for Self-Paced Treadmill Walking Based on Inverted Pendulum Model

10.1115/1.0004167v ◽

2021 ◽

Author(s):

Yuyang Qian ◽

Kaiming Yang ◽

Yu Zhu ◽

Wei Wang ◽

Chenhui Wan

Keyword(s):

Dynamic Stability ◽

Inverted Pendulum ◽

Treadmill Walking ◽

Inverted Pendulum Model ◽

Pendulum Model

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Turning Gait Planning Method for Humanoid Robots

Applied Sciences ◽

10.3390/app8081257 ◽

2018 ◽

Vol 8 (8) ◽

pp. 1257 ◽

Cited By ~ 3

Author(s):

Tianqi Yang ◽

Weimin Zhang ◽

Xuechao Chen ◽

Zhangguo Yu ◽

Libo Meng ◽

...

Keyword(s):

Inverted Pendulum ◽

Center Of Mass ◽

Translational Motion ◽

Humanoid Robots ◽

Inverted Pendulum Model ◽

Straight Line ◽

Pendulum Model ◽

The Stability ◽

And Control ◽

Present Simulation

The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by the inverted pendulum model, this method is more precise. The non-inertial reference is introduced in the turning walk. This method can translate the turning walk into a straight-line walk when the inertial forces act on the robot. The dynamics of the robot model, called linear inverted pendulum (LIP), are changed and improved dynamics are derived to make them apply to the turning walk model. Then, we expend the new LIP model and control the zero moment point (ZMP) to guarantee the stability of the unstable parts of this model in order to generate a stable COM trajectory. We present simulation results for the improved LIP dynamics and verify the stability of the robot turning.

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