Stability of a one legged robot using μ-synthesis

Abstract

The focus of this paper is to investigate the feasibility of stabilizing an underactuated double inverted pendulum. This preliminary investigation is motivated by the desire to construct a two-legged walking robot. The pendulum represents a single leg in a walking robot. The design of a stabilizing controller using a /spl mu/-synthesis approach is explained in detail and conditions for controllability and observability of the system are given.