TY - GEN
T1 - Dynamics and control of the Reaction Mass Pendulum (RMP) as a 3D multibody system
T2 - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
AU - Sanyal, Amit K.
AU - Goswami, Ambarish
PY - 2011
Y1 - 2011
N2 - Humans and humanoid robots are often modeled with different types of inverted pendulum models in order to simplify the dynamic analysis of gait, balance and fall. We have earlier introduced the Reaction Mass Pendulum (RMP), an extension of the traditional inverted pendulum models, which explicitly captures the variable rotational inertia and angular momentum of the human or humanoid. In this paper we present a thorough analysis of the RMP, which is treated as a 3D multibody system in its own right. We derive the complete kinematics and dynamics equations of the RMP system and obtain its equilibrium conditions. Next we present a nonlinear control scheme that stabilizes this underactuated system about an unstable set with a vertically upright configuration for the "leg" of the RMP. Finally we demonstrate the effectiveness of this controller in simulation.
AB - Humans and humanoid robots are often modeled with different types of inverted pendulum models in order to simplify the dynamic analysis of gait, balance and fall. We have earlier introduced the Reaction Mass Pendulum (RMP), an extension of the traditional inverted pendulum models, which explicitly captures the variable rotational inertia and angular momentum of the human or humanoid. In this paper we present a thorough analysis of the RMP, which is treated as a 3D multibody system in its own right. We derive the complete kinematics and dynamics equations of the RMP system and obtain its equilibrium conditions. Next we present a nonlinear control scheme that stabilizes this underactuated system about an unstable set with a vertically upright configuration for the "leg" of the RMP. Finally we demonstrate the effectiveness of this controller in simulation.
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U2 - 10.1115/DSCC2011-6086
DO - 10.1115/DSCC2011-6086
M3 - Conference contribution
AN - SCOPUS:84881467185
SN - 9780791854754
T3 - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
SP - 589
EP - 596
BT - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Y2 - 31 October 2011 through 2 November 2011
ER -