Inverted Pendulum Model Of Biped Robot And Its Control

The biped robotics is a cross discipline which involves the bionics, multi-rigid body complex dynamics, multi-sensor data fusion and control engineering. And it is one of the most important branches. The biped robot is suitable for doing cooperation with human in people's everyday lives, and has a wider potential substitute for human work such as healing service, housework a nd w orking i n h azard c onditions. T herefore, t he research o n t he biped robot has not only the higher academic value, but also has comparatively practical significance.In this paper we develop a simple model of biped robot, which is based on the human's walking course and the human's physical structure. Then we have the research on the gait planning of biped robot, and we achieve the comparability between the biped walking and the double inverted pendulum. In the following chapter, we have the simulation of the biped walking without lifting the feet on the flat ground and consuming energy, which uses the balancing and locomotion of the inverted pendulum.The studies on the inverted pendulum have significant theory and practical values. They can show many abstract concepts, such as the stability, the controllability, the convergent speed and the ability of the anti-disturbance. Because inverted pendulum is a typical system, which is fleet, multi-variable, non-linear, and absolutely instable. It becomes the research object of many researchers. They continually excavate many new methods, and apply them to various high-tech fields, such as aviation and the robots. Because the characteristic of the inverted pendulum is similar to the characteristic of the rockets and the robots, the researches on it have theory and practical significance. Above all, the inverted pendulum has become the experimental system, on which we can learn and validate various control theories.Because the double inverted pendulum has similarities with the biped walking, we can assume that we may simulate the biped walking using the balancing of the double inverted pendulum. Therefore, we have the research on the motion design of biped robot in this paper, and simplify the biped robot model to a model similar to double inverted pendulum from the walking course of biped robot. Then we can have the simulation work on double inverted pendulum, which is comparatively mature.In this paper, we put the methods of the pole configuration and the optimal control to control the linear inverted pendulum, and have a deep research work on these two theories. We have the work on linearization of the dynamic equation of the inverted pendulum system near the working position, and achieve the linear equation. Good simulation results are got by MATLAB by using pole configuration and optimal control simulation, and we summarize some experience parameters. At last, we compare the results of these two control methods.