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Scissored pair control moment gyroscope inverted pendulum

Stanislav Aranovskiy 1 Igor Ryadchikov 2 Mikhail Nenyukov Dmitry Sokolov 3
1 IETR - Institut d'Électronique et des Technologies du numéRique
2 Kuban State University [Russie]
3 Pixel
Inria Nancy - Grand Est, LORIA - ALGO - Department of Algorithms, Computation, Image and Geometry
Abstract : Motivated by non-anthropomorphic dynamic stabilization of a walking robot, we are working on a 2D inverted pendulum stabilized with a scissored pair of control moment gyroscopes. This inverted pendulum is a fair approximation of a robot, allowing us to study the dynamics in simplified settings. In this paper we propose a model for the pendulum; the model neglects all unessential terms and thus is suitable for analysis. We also propose a simple control law based on the linearization of the model and we validate it experimentally.
Keywords : bipedal gait inverted pendulum Scissored-pair control moment gyroscope
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https://hal.inria.fr/hal-02985412
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Submitted on : Monday, November 2, 2020 - 10:59:31 AM
Last modification on : Thursday, December 3, 2020 - 3:09:13 AM

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Stanislav Aranovskiy, Igor Ryadchikov, Mikhail Nenyukov, Dmitry Sokolov. Scissored pair control moment gyroscope inverted pendulum. 14th International Symposium "Intelligent Systems - 2020", Dec 2020, Moscow, Russia. ⟨hal-02985412v1⟩

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