Double inverted pendulum

The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation

Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kazuhito Yokoi, Hirohisa Hirukawa

Citations: 1036 • 2002

A realtime pattern generator for biped walking

Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kazuhito Yokoi, Hirohisa Hirukawa

Citations: 305 • 2003

Biped robot walking using gravity-compensated inverted pendulum mode and computed torque control

Joo Hyun Park, K.D. Kim

Citations: 253 • 2002

Biped walking pattern generation by a simple three-dimensional inverted pendulum model

Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kazuhito Yokoi, Hirohisa Hirukawa

Citations: 176 • 2003

Experimental study of biped dynamic walking in the linear inverted pendulum mode

Shuuji Kajita, Kenichiro Tani

Citations: 133 • 2002

Advanced Control of Wheeled Inverted Pendulum Systems

Zhijun Li, Chenguang Yang, Liping Fan

Citations: 124 • 2012

Virtual-Holonomic-Constraints-Based Design of Stable Oscillations of Furuta Pendulum: Theory and Experiments

Anton Shiriaev, Leonid B. Freidovich, Anders Robertsson, Rolf Johansson, Anders Sandberg

Citations: 100 • 2007

Wheeled inverted pendulum type assistant robot: design concept and mobile control

Seonghee Jeong, Takayuki TAKAHASHI

Citations: 100 • 2008

Wheeled inverted pendulum type assistant robot: inverted mobile, standing, and sitting motions

Seonghee Jeong, Takayuki TAKAHASHI

Citations: 64 • 2007

Human stance control beyond steady state response and inverted pendulum simplification

G. Schweigart, T. Mergner

Citations: 56 • 2007

Dynamic Torso Compliance Control for Standing and Walking Balance of Position-Controlled Humanoid Robots

Qingqing Li, Fei Meng, Zhangguo Yu, Xuechao Chen, Qiang Huang

Citations: 46 • 2021

A pendulum-driven cart via internal force and static friction

Hongyi Li, K. Furuta, F. L. Chernousko

Citations: 46 • 2006

Nonlinear control of mobile inverted pendulum

R. M. Brisilla, V. Sankaranarayanan

Citations: 42 • 2015

Tilting-Type Balancing Mobile Robot Platform for Enhancing Lateral Stability

SangJoo Kwon, Sangtae Kim, Jaerim Yu

Citations: 41 • 2014

Real-Time Walking Pattern Generation Method for Humanoid Robots by Combining Feedback and Feedforward Controller

Seokmin Hong, Yonghwan Oh, Doik Kim, Bum-Jae You

Citations: 38 • 2013

Transportation control of cooperative double-wheel inverted pendulum robots adopting Udwadia-control approach

Chunsheng He, Kang Huang, Xiaolong Chen, Yiran Zhang, Han Zhao

Citations: 37 • 2018

State estimation of a walking humanoid robot

Xinjilefu, Christopher G. Atkeson

Citations: 37 • 2012

A comparison study for control and stabilisation of inverted pendulum on inclined surface (IPIS) using PID and fuzzy controllers

Ashwani Kharola, Pravin P. Patil, Suyashi Raiwani, Deepak Rajput

Citations: 33 • 2016

Humanoid Robot Balance Control Using the Spherical Inverted Pendulum Mode

Ahmed I. Elhasairi, Alexandre Pechev

Citations: 33 • 2015

Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model

Stéphane Caron

Citations: 32 • 2020