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From: at687002@LANCE.ColoState.Edu (alex tsariounov)
Subject: Re: Inverted Pendulum Info Wanted
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Date: Sat, 06 Mar 1993 19:03:10 GMT
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Subject: Re: Inverted Pendulum Info Wanted


> Hi,
>
> I am looking for references to robots modeled as inverted
> pendulums (balancing on one wheel).  I believe there was some
> work at CMU in this area.                                       
> 
> Any help would be appreciated.                                                                 

The inverted pendumlum -- both one dimentional and two dimensional -- is 
used as a basis for active balance control of biped locomotive robots 
- among other things.

Marc Raibert has a good historical survey on walking machines, relevance
of the inverted pendulum to active control of balance as well as the work
he and his co-workers did on hopping and running machines:

	Marc H. Raibert.  Legged Robots.  Communications of the ACM, 
	29(6), ACM, New York, June 1986.

There has also been a lot of work done in Japan with active balance control
and biped locomotion.  Check out the following book in your library:

	Biped Locomotion: Dynamics, Stability, Control and Applicaiton, 
	M. Vukobratovic, B. Borovac, D. Surla, D. Stokic,
	Scientific Fundamentals of Robotics 7,
	Springer Verlag, Berlin, 1990.

This book has various information on bipeds, pictures, equations, etc.
As well as references to work done in Japan.

-alex.
at687002@longs.lance.colostate.edu
