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3. Controls based on single and double inverted pendulum models
Humanoid robots are polyarticulated mechanical systems. To avoid computationally-intensive algorithms, control laws based on simple inverted pendulum models have been proposed. Some of these control laws are presented here.
3.1 Control based on the inverted linear pendulum method
Kajita introduced the "Cart-Table" model to define the following relationship between the ZMP position and the CoM of a humanoid robot.
In the (x, z) plane (figure...
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Controls based on single and double inverted pendulum models
Under-actuated and fully-actuated planar robots
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