LQR control of a simulated serial inverted double pendulum on a spherical base in 2D. Starts off-balance with about 5 degrees incline to the vertical, and makes an attempt to regain balance. Both joints are actuated, that is, the blue to red joint, and the red to green joint.
Represents a spherical foot on a biped robot, looking at its right side. Shows that such a robot could maintain standing stationary balance with spherical feet.
Published in ACRA 2009: http://www.araa.asn.au/acra/acra2009/contents.html
More vids please
mohrgasm 6 months ago
OMFG
mohrgasm 7 months ago