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Inverted Pendulum on a Spherical Base in 2D

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Uploaded by on Jan 18, 2010

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

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Science & Technology

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  • More vids please

  • OMFG

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