DC Field | Value | Language |
---|---|---|
dc.contributor.author | Cho, Baek Kyu | ko |
dc.date.accessioned | 2013-03-13T01:24:18Z | - |
dc.date.available | 2013-03-13T01:24:18Z | - |
dc.date.created | 2013-01-11 | - |
dc.date.created | 2013-01-11 | - |
dc.date.issued | 2012-01 | - |
dc.identifier.citation | Journal of Institute of Control, v.18, no.1, pp.28 - 34 | - |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.uri | http://hdl.handle.net/10203/104103 | - |
dc.description.abstract | Human generally uses three methods to keep balance. One of them is using reactive momentum such as swing an upper body or arms. In this study, we proposed a balancing controller for the reactive momentum method using an inverted pendulum. We simplified a human or a humanoid robot as a two-link inverted pendulum having two edges. In addition, we proposed a distinctive condition for controller transition. If a human is pushed, he has to change a balancing controller from using an ankle torque to using a reactive momentum or changing foot placement. When the balancing controller is changed from using an ankle torque to using a reactive momentum, it is required a proper timing to keep a stability and make smooth movement. In the experiment, the proposed controller and distinctive condition were verified. © ICROS 2012. | - |
dc.language | English | - |
dc.publisher | Institute of Control, Robotics and Systems | - |
dc.title | Stabilization of a two-link inverted pendulum with a rate gyro | - |
dc.title.alternative | 자이로를 이용한 두 링크 도립진자의 자세안정화 | - |
dc.type | Article | - |
dc.identifier.scopusid | 2-s2.0-84860187317 | - |
dc.type.rims | ART | - |
dc.citation.volume | 18 | - |
dc.citation.issue | 1 | - |
dc.citation.beginningpage | 28 | - |
dc.citation.endingpage | 34 | - |
dc.citation.publicationname | Journal of Institute of Control | - |
dc.contributor.localauthor | Cho, Baek Kyu | - |
dc.subject.keywordAuthor | Balancing | - |
dc.subject.keywordAuthor | Inverted pendulum | - |
dc.subject.keywordAuthor | Rate gyro | - |
dc.subject.keywordAuthor | Reactive momentum | - |
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