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Scissored pair control moment gyroscope inverted pendulum

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.
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Conference papers
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Contributor : Sokolov Dmitry Connect in order to contact the contributor
Submitted on : Tuesday, December 1, 2020 - 5:15:27 PM
Last modification on : Friday, January 21, 2022 - 3:23:56 AM


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  • HAL Id : hal-02985412, version 2


Stanislav Aranovskiy, Igor Ryadchikov, Nikita Mikhalkov, Dmitry Kazakov, Alexey Simulin, et al.. Scissored pair control moment gyroscope inverted pendulum. 14th International Symposium "Intelligent Systems - 2020", Dec 2020, Moscow, Russia. ⟨hal-02985412v2⟩



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