Simulation model to evaluate control of balance in humanoid robots
This thesis focuses on implementing a program, using Python and the symbolic package SymPy, to evaluate balancing of a humanoid robot modelled as inverted pendulums. The balancing algorithm used to evaluate the program is the feedback controller LQR. The program has successfully implemented a workin...
| Main Author: | |
|---|---|
| Format: | Others |
| Language: | English |
| Published: |
Uppsala universitet, Institutionen för informationsteknologi
2015
|
| Subjects: | |
| Online Access: | http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-246114 |