Angular Momentum Based Controller for Balancing an Inverted Double Pendulum

Abstract

This paper presents a new control algorithm, based on angular momentum, for balancing a planar inverted double pendulum robot having one degree of underactuation. The robot may either pivot about a fixed point, or roll with a curved foot over a flat ground. The controller is able to stabilize the robot in any unstable balanced configuration, and to follow arbitrary motion trajectories without losing balance. The latter necessarily involves some tracking error. Several simulation results are presented.