Title :
Inverted Pendulum with a Sensored Foot
Author :
Babkovic, Kalman ; Nagy, Laszlo ; Krkljes, Damir ; Borovac, Branislav
Author_Institution :
Univ. of Novi Sad, Novi Sad
Abstract :
A two degrees of freedom inverted pendulum, standing on its flat foot is considered in this paper. The foot is equipped with force sensors in order to measure the vertical component of the ground reaction. The complete dynamics of the system is simulated. The usage possibility of such future measurements were further analyzed through simulation, using different motion patterns and pendulum parametrers.
Keywords :
force sensors; legged locomotion; nonlinear systems; pendulums; force sensors; ground reaction; inverted pendulum; motion patterns; pendulum parametrers; sensored foot; system dynamics; Foot; Force measurement; Force sensors; Ground support; Informatics; Intelligent sensors; Intelligent systems; Kalman filters; Legged locomotion; Torque;
Conference_Titel :
Intelligent Systems and Informatics, 2007. SISY 2007. 5th International Symposium on
Conference_Location :
Subotica
Print_ISBN :
978-1-4244-1442-0
Electronic_ISBN :
978-1-4244-1443-7
DOI :
10.1109/SISY.2007.4342648
