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Global Stability Study of a Compliant Double-Inverted Pendulum Based on Hamiltonian Modeling

[+] Author Affiliations
Emmanouil Spyrakos-Papastavridis, Gustavo Medrano-Cerda, Darwin G. Caldwell

Italian Institute of Technology (IIT), Genoa, Italy

Jian S. Dai

King’s College London (KCL), London, UK

Paper No. DETC2012-71066, pp. 1481-1488; 8 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


This paper presents a dynamical model of a compliant double-inverted pendulum that is used to approximate the physical structure of the compliant humanoid (COMAN) robot, using both the Hamiltonian and the Lagrangian approaches. A comparison between the two aims at providing insight into the various advantages and/or disadvantages associated to each approach. Through manipulation of the resulting formulae, it is shown that the Hamiltonian equations possess certain characteristics, such as the allowance of the tracking of global stability, that render this method of representation suitable for legged robotics applications. Finally, an asymptotically stabilizing control scheme is presented together with simulation results.

Copyright © 2012 by ASME



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