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Conference Papers Year : 2020

Scissored pair control moment gyroscope inverted pendulum


Motivated by non-anthropomorphic dynamic stabilization of a walking robot, we are working on a 2D inverted pendulum stabilized with a scissored pair of control moment gyroscopes. This inverted pendulum is a fair approximation of a robot, allowing us to study the dynamics in simplified settings. In this paper we propose a model for the pendulum; the model neglects all unessential terms and thus is suitable for analysis. We also propose a simple control law based on the linearization of the model and we validate it experimentally.
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Dates and versions

hal-02985412 , version 1 (02-11-2020)
hal-02985412 , version 2 (01-12-2020)


  • HAL Id : hal-02985412 , version 2


Stanislav Aranovskiy, Igor Ryadchikov, Nikita Mikhalkov, Dmitry Kazakov, Alexey Simulin, et al.. Scissored pair control moment gyroscope inverted pendulum. 14th International Symposium "Intelligent Systems - 2020", Dec 2020, Moscow, Russia. ⟨hal-02985412v2⟩
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