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42 results about "Inverted pendulum" patented technology
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An inverted pendulum is a pendulum that has its center of mass above its pivot point. It is unstable and without additional help will fall over. It can be suspended stably in this inverted position by using a control system to monitor the angle of the pole and move the pivot point horizontally back under the center of mass when it starts to fall over, keeping it balanced. The inverted pendulum is a classic problem in dynamics and control theory and is used as a benchmark for testing control strategies. It is often implemented with the pivot point mounted on a cart that can move horizontally under control of an electronic servo system as shown in the photo; this is called a cart and pole apparatus. Most applications limit the pendulum to 1 degree of freedom by affixing the pole to an axis of rotation. Whereas a normal pendulum is stable when hanging downwards, an inverted pendulum is inherently unstable, and must be actively balanced in order to remain upright; this can be done either by applying a torque at the pivot point, by moving the pivot point horizontally as part of a feedback system, changing the rate of rotation of a mass mounted on the pendulum on an axis parallel to the pivot axis and thereby generating a net torque on the pendulum, or by oscillating the pivot point vertically. A simple demonstration of moving the pivot point in a feedback system is achieved by balancing an upturned broomstick on the end of one's finger.
Humanoid robot reinforcement learning gait control method and system
The invention discloses a humanoid robot reinforcement learning gait control method and system, and belongs to the technical field of robot control. Comprising the following steps: constructing a model prediction control optimization problem based on a linear inverted pendulum model, and generating a robot mass center track and a foothold sequence; collecting state-action pair data of model prediction control, and training a neural network model by adopting supervised learning; designing a reinforcement learning strategy network, taking the output of the neural network model as a physical guidance reference, calculating a training reward based on the constructed composite reward function, training the strategy network in a high-concurrency simulation environment by adopting a near-end strategy optimization algorithm, and outputting a joint action instruction; and verifying the trained strategy and the joint action instruction output by the trained strategy in a plurality of simulation environments, and deploying the trained strategy and the joint action instruction to a real machine for dynamic gait control. According to the method, the stability and adaptability of gait control of the humanoid robot are improved through a method of combining model predictive control and reinforcement learning.
Owner:INST OF AUTOMATION CHINESE ACAD OF SCI
Biped wheel-legged robot pose control method and device based on hierarchical cooperative control, medium and product
The invention discloses a double-foot wheel-legged robot pose control method and device based on hierarchical cooperative control, a medium and a product, and relates to the field of robot control, and the method comprises the steps that a hierarchical cooperative control framework is constructed; the layered cooperative control framework comprises a balance controller and a whole body attitude controller; the balance controller determines a reference wheel joint driving torque based on a simplified inverted pendulum dynamic model according to the pose information of the upper mass center of the biped wheel-leg robot; the whole-body attitude controller performs optimization control on all joints of the biped wheel-leg robot by adopting an incremental model prediction control algorithm combined with a reference wheel joint driving moment based on a whole-body dynamic model; state information of the biped wheel-legged robot is obtained; according to the state information, a driving torque instruction of each joint is obtained based on a hierarchical cooperative control framework; and driving the double-foot wheel-leg robot to move according to the driving torque instruction of each joint. The precision, robustness and real-time performance of robot motion control can be improved.
Owner:BEIJING UNIV OF TECH
Multi-pump zero-displacement hydraulic agile control system and control method thereof
The invention provides a multi-pump zero-displacement hydraulic agile control system and a control method thereof. The system is composed of a hydraulic system, a mechanical system and an electric control system. According to the control method, a multi-pump zero-displacement switching mechanism and a deep reinforcement learning strategy based on an Actor-Critic architecture are fused, the effective oil supply amount is adjusted by dynamically starting and stopping part of hydraulic pumps, a servo motor rotating speed instruction is output in real time in combination with a neural network, and the strong coupling dynamic relation between sliding block displacement and the angle of a swing rod is coordinated. The system switches part of the pumps to a bypass state when approaching balance so as to reduce energy consumption, and starts all the pumps to guarantee recovery capacity when greatly deviating. According to the technical scheme, on the premise of not depending on an accurate mathematical model, agile, stable and energy-saving control over the inverted pendulum type under-actuated system can be achieved.
Owner:TONGJI UNIV
Balance control algorithm for gravity center trajectory planning and real-time tracking of humanoid robot
The invention relates to a balance control algorithm for gravity center trajectory planning and real-time tracking of a humanoid robot, in particular to the technical field of robot control, and realizes dynamic balance control through a closed-loop process of state sensing, online gravity center trajectory re-planning, hierarchical control law calculation and joint torque output and execution. A layered dynamic modeling and control framework is constructed, a variable-height inverted pendulum model is combined with model prediction control, and a gravity center and zero moment point track feasible in dynamics is generated online; virtual restoring force is generated through a gravity center impedance controller, a task priority inverse dynamics solver is used, multi-task execution is coordinated on the premise that balance tasks are guaranteed to be absolutely preferential through a null-space projection technology, theoretical torque is converted into current instructions to drive joints to move, and through efficient collaboration and real-time updating of dynamic models of all levels, the balance tasks are optimized. According to the invention, deep collaboration of various technical features is realized, and the problems of poor adaptability, slow response and poor balance capability of a traditional method in a dynamic environment are effectively solved.
Owner:诚芯智联(武汉)科技技术有限公司
Robot control method, device and equipment and storage medium
PendingCN121756342AImplement control methodsimprove accuracyProgramme-controlled manipulatorSimulationNetwork model
The invention provides a robot control method and device, equipment and a storage medium. The method comprises the steps that based on the current actual motion state of the robot and foothold information in a control instruction, the expected motion state of the robot is obtained through prediction of an inverted pendulum model; on the basis of the actual speed in the actual motion state and the expected speed in the expected motion state, the speed variation of the robot is obtained through prediction of a speed response model; based on the actual motion state and the expected motion state, predicting a residual speed through a neural network model; determining the execution speed of the robot based on the actual speed, the speed variation and the residual speed; and integral processing is carried out on the execution speed to obtain a motion trail of the robot, and the robot is controlled to move according to the motion trail. According to the invention, the accuracy and stability of robot control can be improved.
Owner:UBTECH ROBOTICS CORP LTD
An asynchronous non-fragile h-infinity control method and system for a rotating inverted pendulum
This invention discloses an asynchronous, non-fragile H∞ control method and system for a rotating inverted pendulum, belonging to the field of robust control technology for DC motor rotating inverted pendulums. Addressing the problems of modal asynchrony, controller gain perturbation, time-varying delay, and quantization error in DC motor rotating inverted pendulum systems, this invention proposes an asynchronous, non-fragile H∞ control framework. The main steps include: constructing a Markov jump singular perturbation system model with time-varying delay and variable quantization density; designing an asynchronous, non-fragile output feedback controller for the rotating inverted pendulum, compatible with controller gain perturbation and quantization uncertainty; and deriving the linear matrix inequality conditions through modal-dependent Lyapunov functions to ensure the system's exponential stability in finite time and to meet the preset H∞ performance index. This invention can effectively improve the robustness and stability of DC motor rotating inverted pendulums under attack and parameter perturbation scenarios.
Owner:GUILIN UNIV OF ELECTRONIC TECH
A safe navigation and localization method for bipedal robots based on discrete control barrier functions and hierarchical architecture
This invention discloses a safe navigation and localization method for bipedal robots based on discrete control barrier functions and a hierarchical architecture, belonging to the field of robot control technology. The method employs the Relative Dynamics Test (RRT) algorithm to generate a global path and combines it with a Linear Inverted Pendulum Model (LIPM) to generate a stable gait. A discrete control barrier function (D-CBF) is used to ensure obstacle avoidance in dynamic environments, and the safe control input is solved through an optimization problem. Sensor fusion technology is used for real-time localization, and moving average filtering is applied to eliminate oscillation errors caused by gait. This invention, by combining discrete control barrier functions (D-CBF) with hybrid zero dynamics (HZD), achieves high-precision navigation and safe obstacle avoidance for bipedal robots in complex environments, effectively solving the problems of insufficient stability and lack of safety in traditional methods.
Owner:PEKING UNIV SHENZHEN GRADUATE SCHOOL
Attitude control method and system of discrete gravity center double-wheel-foot robot and storage medium
PendingCN122058344AProgramme-controlled manipulatorVehicle position/course/altitude controlAttitude controlRegulator
The invention discloses a posture control method and system of a discrete gravity center double-wheel-foot robot and a storage medium, and relates to the technical field of gravity center control. Discrete configuration and rapid switching of the gravity center position are achieved by actively adjusting hip joints and knee joints, and a robot model is established based on multi-rigid-body dynamics; simplifying the model into an inverted pendulum linear model family with parameters changing along with the gravity center in the front-back direction; a plurality of discrete gravity center working conditions are preset, each working condition corresponds to a specific joint target angle and model parameters, and the optimal working condition is selected for switching according to the real-time posture and the motion state; and designing a cooperative control law by adopting a linear quadratic regulator, and finally, realizing stable attitude control of the robot under complex terrains and disturbances through multi-joint cooperative execution. According to the method, the disturbance rejection capability and the attitude stability margin are remarkably improved through discrete gravity center configuration, meanwhile, the model complexity and the real-time calculation burden of continuous gravity center adjustment are avoided, and control performance and engineering realizability are achieved at the same time.
Owner:FIMA TECHNOLOGY (SUZHOU) CO LTD
A parameter optimization-based robust constraint tracking control method for biped robots
The present application relates to biped robot control technical field, especially relate to a kind of robust constraint tracking control method of biped robot based on parameter optimization.The present application uses improved inverted pendulum model, while making full use of the advantages of single mass model, still can reflect the important characteristics of biped robot, avoid a series of errors and interference problems due to model oversimplification.The key parameters of the improved inverted pendulum model are set to be variable in the present application, which is convenient for adjusting its dynamic characteristics.The present application designs a kind of robust constraint control method, considers the motion equation of the limited mechanical system of equality constraint and inequality constraint, and makes the control input satisfy Gauss principle and d'Alembert principle, so as to produce moderate control force in the real world to meet system performance.
Owner:HEFEI UNIV OF TECH
A humanoid robot obstacle-crossing reinforcement learning control method based on DCM constraint
The application discloses a humanoid robot obstacle-crossing reinforcement learning control method based on DCM constraint, an external force observer based on hyperbolic tangent sliding mode compensation is designed for quickly estimating external force impact, and is used for estimating external force impact suffered by the robot; a motion divergence quantity (DCM) model considering external force influence is established based on a traditional linear inverted pendulum model, and a reward function based on DCM optimization is designed to improve stability. On this basis, a multi-dimensional reward function covering dynamic leg lifting height reward, foot landing area reward, obstacle-crossing reward and the like is designed to prevent training from falling into local optimum. In view of the problems of slow training speed and excessively high calculation cost in the simulation environment where a visual sensor is used to identify the terrain, a sampling point grid based on terrain height is designed to improve the perception accuracy and real-time performance of the system on complex obstacle terrains.
Owner:GUANGDONG UNIV OF TECH +2
A distributed elastic fusion filtering method based on generalized inverted pendulum system
The application relates to a distributed elastic fusion filtering method based on a generalized inverted pendulum system and relates to the technical field of information fusion filtering. A dynamic model of a generalized inverted pendulum system under a multi-sensor network with colored measurement noise is constructed, the dynamic model is converted into a dynamic model of a non-generalized inverted pendulum system, a local elastic filter is designed according to the measurement information of each node to filter the state of the system, a correction parameter matrix is calculated and substituted into the local elastic filter, the local state filtering of the generalized inverted pendulum system and the upper bound of the filtering covariance are obtained, and finally, an inverse covariance cross fusion method is used to obtain the best fusion filtering process. The application can effectively solve the fusion filtering problem of the generalized inverted pendulum system under the multi-sensor network affected by the colored measurement noise and the change of the filter parameters, can objectively fit the real engineering scene, is easy to realize online iterative calculation, and can improve the state estimation precision and the filtering algorithm performance.
Owner:JINING NORMAL UNIV
Balance control method, system and equipment for double-wheel-leg robot and medium
The invention provides a balance control method, system and equipment for a double-wheel-leg robot and a medium, and relates to the technical field of robots, the mass center dynamics of the double-wheel-leg robot is equivalent to a wheel type inverted pendulum model, a dynamic model is established through a Lagrange method, and the movement and mass center balance of the double-wheel-leg robot can be accurately described; the dynamic constraints of the driving wheel and the centroid inclination angle in the dynamic model are solved, and the centroid dynamics can be effectively simplified; through the centroid trajectory planning model, the expected driving wheel position and speed can be fused into centroid trajectory planning, the advancing position and the advancing speed are tracked while centroid balance control is achieved, the under-actuated characteristic of the robot is met, meanwhile, the design of a controller is simplified, the tracking precision is improved, and the performance of a control system is guaranteed.
Owner:SOUTHERN UNIVERSITY OF SCIENCE AND TECHNOLOGY
Three dimensional log spiral structures for improving transportation
A system and method for a transportation device that utilizes an alternative biomechanics framework for the human lower body that may be used in any transportation vehicle in conjunction or as an alternative to wheels whereby the bones, muscles, and connective tissue of the lower body function together to produce the mechanics of a single wheel rather than the conjoined pendulums of the leading inverted pendulum model of biomechanics.
Owner:GLAZER YARON Y
Electro-hydraulic servo building robot and migration learning adaptive control method thereof
The application discloses an electro-hydraulic servo building robot and a migration learning adaptive control method thereof, and belongs to the technical field of intelligent control of building robots. The robot comprises a hydraulic system, a mechanical system and an electric control system. The hydraulic system adopts a double-pump parallel closed driving structure, is matched with an integrated valve block and an accumulator for pressure compensation and current stabilization. The mechanical system adopts an under-actuated inverted pendulum structure with rear wheels on the ground and front wheels in the air. The electric control system collects working condition information by relying on multiple sensors, and realizes working condition discrimination and safety protection through multiple sub-programs. The application introduces a DDPG migration learning algorithm, migrates network parameters and experience data obtained by training a light-load flat ground source task to a heavy-load complex target task, and quickly adapts to hydraulic nonlinear characteristics and complex working condition disturbances through a hierarchical optimization mode of freezing the bottom layer network and fine-tuning the high layer network. The application effectively improves the heavy-load carrying stability and intelligent operation level of the robot.
Owner:TONGJI UNIV
CAN real-time measurement and control platform for loader electric drive system
The utility model provides a CAN real-time measurement and control platform used for a loader electric drive system, which is composed of an inverted pendulum test platform, an angle encoder, a servo motor, a drive swing rod, a motion control card, a CAN bus module, a motor driver and a PC machine, the CAN bus module comprises two CAN nodes, the two CAN nodes are connected in series, the PC machine is in bidirectional connection with the motion control card, and the motor driver is connected with the motion control card. The input end of the motion control card is connected with the output end of the second CAN node through a PCI interface, the motion control card is in bidirectional connection with the motor driver, the motor driver is in bidirectional connection with the servo motor, the servo motor is in bidirectional connection with the inverted pendulum test platform, and the output end of the inverted pendulum test platform and the output end of the driving swing rod are connected with the input end of the angle encoder. And the angle encoder is bidirectionally connected with the first CAN node. According to the utility model, a scientific basis is provided for CAN network control and application of the loader electric drive system, and the loader electric drive system has significant use value and social and economic benefits.
Owner:SHANGHAI TXMEC TECH CO LTD
Control method and device of pool underwater step cleaning robot
ActiveCN120909298BVehicle position/course/altitude controlPosition/direction controlControl engineeringWater entry
The embodiment of the application relates to the technical field of robot control, and provides a control method and device of a pool underwater step cleaning robot. The method comprises the following steps: scanning a step structure in a target step region to construct a three-dimensional step model; generating an initial control strategy according to the three-dimensional step model by a deep deterministic policy gradient algorithm before water entry cleaning, and starting the robot to enter the target step region based on the initial control strategy; collecting motion state data and attitude monitoring data of the robot in real time during the cleaning process; based on an adaptive control model of an inverted pendulum balance theory, the motion state data, the attitude monitoring data and step structure parameters in the three-dimensional step model are cooperatively optimized to obtain a real-time control strategy of the robot; and the motion state of the robot is adjusted based on the real-time control strategy to adapt to the step cleaning process in the target step region, and the environmental adaptability, attitude stability and operation efficiency of the robot in a complex underwater step environment are improved.
Owner:YITUO ELECTRIC CO LTD
Three dimensional log spiral structures for improving transportation
ActiveUS12599532B2Programme-controlled manipulatorChiropractic devicesConnective tissue fiberBiomechanics
A system and method for a transportation device that utilizes an alternative biomechanics framework for the human lower body that may be used in any transportation vehicle in conjunction or as an alternative to wheels whereby the bones, muscles, and connective tissue of the lower body function together to produce the mechanics of a single wheel rather than the conjoined pendulums of the leading inverted pendulum model of biomechanics.
Owner:GLAZER YARON Y
Inverted swing type air flotation vibration isolator
The utility model relates to the technical field of air flotation vibration isolators, and particularly discloses an inverted swing type air flotation vibration isolator which comprises an air spring. The hollow cylinder is fixedly mounted at the bottom in the air spring, and the hollow cylinder is filled with second damping liquid; the inverted pendulum extends into the second damping liquid from the upper end of the air spring, and the second damping liquid is used for reducing the swing amplitude of the inverted pendulum to a balance recovery position; a damping liquid groove is vertically formed in the inverted pendulum, and the damping liquid groove is filled with first damping liquid; the movable rod is vertically inserted into the first damping liquid, the bottom end of the movable rod is supported by the bottom of the inverted pendulum in the mode that the movable rod is allowed to swing relative to the groove bottom of the damping liquid groove, and the first damping liquid is used for maintaining the balance state of the movable rod and the inverted pendulum; and the bearing plate is fixed above the movable rod, and equipment needing vibration isolation is installed on the bearing plate. The vibration isolation device has a good vibration isolation effect in the horizontal direction and the vertical direction, and the damping ratio can be flexibly adjusted, so that the requirements of different actual conditions are met.
Owner:SHANGHAI RB RUBBER ISOLATOR TECH
Interval type-2 fuzzy sliding mode control method based on parameter uncertain inverted pendulum system
The application discloses an interval type-2 fuzzy sliding mode control method based on a parameter uncertain inverted pendulum system and belongs to the technical field of nonlinear system control, and comprises the following steps: establishing an interval type-2 T-S fuzzy model of the parameter uncertain inverted pendulum system; constructing a sliding mode controller of the parameter uncertain inverted pendulum system based on the interval type-2 T-S fuzzy model; the sliding mode controller comprises a sliding surface, an equivalent controller, a switching controller and a comprehensive controller; the sliding surface is used as the only input variable of the fuzzy controller, the switching gain is dynamically controlled by using a fuzzy logic rule, and the sliding mode controller is optimized into an interval type-2 fuzzy sliding mode controller. The application solves the problem that the prior art cannot ensure that the parameter uncertain inverted pendulum system is stably operated on a sliding surface and is prone to chattering when parameters change and external disturbances occur.
Owner:NANJING UNIV OF INFORMATION SCI & TECH
A hydraulic drive dynamic performance verification test device and method
PendingCN122170132AFluid-pressure actuator safetyFluid-pressure actuator testingData acquisitionInverted pendulum
This invention discloses a hydraulic drive dynamic performance verification test device and method, belonging to the field of hydraulic robot testing technology. The device includes a hydraulic system, an inverted pendulum hardware system, and a data acquisition and feedback system. The hydraulic system includes a pump station module and a motor module. The pendulum rod and slider in the inverted pendulum mechanism are detachable, allowing switching between full-drive and under-drive test modes by assembling and disassembling the pendulum rod. The data acquisition and feedback system includes a main control computer, a motion control card, and a servo motor driver, responsible for data acquisition and command issuance. This verification method sequentially completes the overall nonlinear modeling of the device, displacement tracking test, pendulum start-up test, steady-state zero-position test, and pulse disturbance rejection test, achieving a comprehensive quantitative evaluation of the device model accuracy, transient agility, steady-state control accuracy, and anti-interference capability. This invention can reproduce the nonlinear characteristics of hydraulic and mechanical coupling, offers convenient switching between operating conditions, and has a complete test system, providing reliable experimental support for optimizing the control strategy of hydraulically driven robots.
Owner:TONGJI UNIV
Inverted pendulum type wave energy conversion device
An inverted pendulum wave energy converter for floating structures, boats, and ships is disclosed. The device comprises an inverted pendulum structure having an inertia moment changing system and an energy conversion connection system connecting the inverted pendulum structure to a host vessel. The ability to control the inertia moment of the inverted pendulum structure with respect to the oscillation axis of the host vessel sufficiently minimizes the risk of capsizing in survival mode, maximizes the conversion of wave energy to electricity, and minimizes the oscillation amplitude of the host vessel. In boats and ships, the inverted pendulum structure is equipped with a wind-assisted propulsion system that maximizes the efficiency of clean energy recovery.
Owner:グーダスコンスタンティノス
Heavy-load high-precision micro-thrust measurement method based on bionic knee joint inverted pendulum
ActiveCN119374770BUsing electrical meansApparatus for force/torque/work measurementBuckling instabilityKnee Joint
The application relates to the technical field of precision mechanics measurement, and discloses a heavy-load high-precision micro-thrust measurement method based on a bionic knee joint inverted pendulum. A micro-thruster is fixed at the center of a top plate of an inverted pendulum thrust measurement device through a customized tool, a nozzle direction is perpendicular to the side of a C-shaped rigid arm and parallel to the top plate; the top plate is connected with the bottom of a lead-angle-shaped flexible hinge in the upper layer through a fixing bolt, four lead-angle-shaped flexible hinges are respectively arranged on the four corners of the top plate and are centrally symmetric; one end of the C-shaped rigid arm is connected with the top of the lead-angle-shaped flexible hinge in the upper layer, and the other end is connected with the bottom of the lead-angle-shaped flexible hinge in the lower layer. Through the structural design of the bionic knee joint inverted pendulum, the lead-angle-shaped flexible hinge in the application is in a stretching state under the action of a load, so that the measurement error caused by buckling instability is avoided, and the overall stability of the device and the precision of thrust measurement are greatly improved.
Owner:TIANJIN UNIV
Double-wheel omnidirectional humanoid robot and control method thereof
PendingCN121973146AProgramme-controlled manipulatorMechanical steering gearsVehicle frameRobotic arm
The invention discloses a double-wheel omni-directional humanoid robot and a control method thereof. The double-wheel omni-directional humanoid robot comprises a head display and sensing assembly, a robot body assembly, mechanical arm assemblies in bilateral symmetry, an electric rising and falling supporting frame and a double-wheel inverted pendulum omni-directional moving chassis. The double-wheel inverted pendulum omni-directional moving chassis comprises a gear connecting rod cooperative steering mechanism, flexible posture adjustment of wheels is achieved through linkage of a driving gear and a synchronous connecting rod, a main controller of a fuselage main body assembly constructs a unified dynamics control frame, coupling angle compensation is introduced to solve the problem of torque projection attenuation, and an electric rising and falling supporting frame has a dead point self-locking function. The parking safety is ensured. According to the invention, traditional limitation is broken through, omni-directional motion and anthropomorphic operation are fused, and complex scene adaptability, attitude stability and trajectory tracking precision are improved.
Owner:HUADONG ZHIXING ARTIFICIAL INTELLIGENCE TECHNOLOGY (SUZHOU) CO LTD
Humanoid robot gait control method and system in ship swaying environment
PendingCN121523384AVehicle position/course/altitude controlPosition/direction controlHumanoid robot naoLoop control
The invention belongs to the technical field of robot control, and discloses a humanoid robot gait control method and system in a ship swaying environment. The method comprises the following steps: converting obtained ship swaying data and related data of robot motion from a geodetic coordinate system to a ship coordinate system, and establishing a gait cycle model of a robot under the ship coordinate system; the rotational angular velocity of the center of mass of the robot is adjusted through a PID controller, and yaw deviation of the robot caused by ship swaying is corrected in real time; a motion track of a robot mass center is calculated by using a mass center track solving method based on a ship inverted pendulum model S-LIPM, and a mass center position coordinate set for controlling the robot to walk is obtained according to the obtained motion track of the robot mass center. According to the method, ship motion data are systematically fused, a dynamic closed-loop control framework is established, the inapplicability of a traditional method in a ship environment is fundamentally overcome, and whole-process optimization from data perception to control execution is achieved.
Owner:HARBIN ENG UNIV +1
Inverted pendulum wave energy conversion device
The invention discloses an inverted pendulum wave energy conversion device for a floating structure, a small boat and a ship. The device comprises an inverted pendulum structure with a rotational inertia changing system and an energy conversion connecting system for connecting the inverted pendulum structure to a main ship. The inverted pendulum structure has the capability of controlling the rotational inertia of the inverted pendulum structure around the oscillation axis of the main ship, so that the risk of overturning can be remarkably reduced in a survival mode, and the maximization of the wave energy conversion efficiency and the minimization of the oscillation amplitude of the main ship can be realized. In small boats and vessels, the inverted pendulum structure also includes a wind-assisted propulsion system to maximize clean energy collection efficiency.
Owner:康斯坦蒂诺斯·格达斯
Robot control method, robot and computer-readable storage medium
A robot control method includes: building a two-wheeled inverted pendulum model based on a wheel-legged robot; constructing initial state-space equations based on the two-wheeled inverted pendulum model; linearizing the initial state-space equations to obtain the state-space equations for a linear time-invariant system; obtaining a quadratic performance objective function according to the state-space equations for the linear time-invariant system; and solving the quadratic performance objective function by a linear quadratic regulator to obtain wheel torques of the wheel-legged robot, and controlling the wheel-legged robot according to the wheel torques.
Owner:UBTECH ROBOTICS CORP LTD
A combined active and passive method for online foothold generation and adjustment of bipedal robots
This invention discloses a method for online footing point generation and adjustment of a bipedal robot that combines active and passive methods. The method includes: determining the planned zero-moment point trajectory and the planned center-of-mass trajectory; designing a virtual inverted pendulum center-of-mass tracking controller; controlling the desired zero-moment point trajectory to ensure the robot's desired center-of-mass trajectory tracks the actual zero-moment point position and calculates external forces, applying them to the virtual inverted pendulum for state updates; optimizing the desired footing point position based on the estimated center-of-mass trajectory for the next two steps and the planned footing point position through online ankle trajectory tracking control, ensuring the robot's desired ankle position follows the calculated desired joint angle, which is then applied to the bipedal robot. This invention achieves a larger and more flexible footing point adjustment effect while ensuring real-time computation, resulting in better disturbance suppression and balance restoration.
Owner:BEIJING INST OF TECH
A linear motor inverted pendulum experiment box
A linear motor inverted pendulum experiment box, including experiment box body and box cover, the box cover is hinged to install in experiment box one side, in the experiment box body respectively is provided with control mainboard device, data interface assembly and movement track assembly, the movement track assembly is installed with sliding seat structure, the support vertical tube is detachably or foldably installed in the middle of the sliding seat structure, at least one side of the sliding seat structure is provided with driving device for driving the sliding seat structure to move on the movement track assembly, an angle encoder is installed on the top of the support vertical tube, and the angle encoder is connected with a swing rod. The utility model manufacturing and use cost is lower, use is not limited by site condition, is convenient for experiment demonstration and observation, and is easy to move to different experiment places and demonstrates, and the reuse effect is good.
Owner:SHANGHAI DROIDUP CO LTD
PID (Proportion Integration Differentiation) motor control and inverted pendulum teaching device capable of changing forms
The utility model relates to the technical field of experiment teaching platforms, and discloses a PID motor control and inverted pendulum teaching device capable of changing forms, which is used for realizing switching teaching of a motor control state or an inverted pendulum state. The motor control state teaching device comprises: a main body frame; the control panel is used for outputting a control signal to drive the motor assembly to rotate; the motor assembly is used for observing the rotation position and state of the motor; the inverted pendulum state teaching device comprises a motor mechanism used for driving an inverted pendulum swing arm structure to rotate; the inverted pendulum swing arm structure is used for observing the rotation position and state of the swing rod. According to the utility model, not only can a closed-loop control experiment of the coding motor be demonstrated and a single-loop PID program realization process and parameter adjustment skills be learned, but also modification can be carried out on the basis of a PID motor control device, the PID motor control device is modified into an inverted pendulum state, double-loop PID is learned, understanding of a PID control algorithm is deepened, and actual combat item experience is enhanced.
Owner:NANJING JIANGXIE TECHNOLOGY CO LTD
Inverted pendulum system event triggering control method based on data driving
The invention discloses an inverted pendulum system event trigger control method based on data driving, which comprises the following steps of: establishing data-based system representation of an inverted pendulum system, and designing a solving condition of a data-based control gain K of the inverted pendulum system; and finally, two data-based event triggering conditions of the inverted pendulum system are constructed, the effectiveness of the proposed method is demonstrated, and the problem of data-driven event triggering control of the inverted pendulum system which cannot be modeled is effectively relieved.
Owner:NANJING TECH UNIV