Publications related to Inverted pendulum

Design of a Flexure-Based Flywheel for the Storage of Angular Momentum and Kinetic Energy

Simon Nessim Henein, Florent Cosandier, Hubert Pierre-Marie Benoît Schneegans, Patrick Robert Flückiger

The flywheel is a widespread mechanical component used for the storage of kinetic energy and angular momentum. It typically consists of cylindrical inertia rotating about its axis on rolling bearings, which involves undesired friction, lubrication, and wea ...

2024

A unified framework for walking and running of bipedal robots

Ludovic Righetti, Elham Daneshmand

In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) height assumption of the linear inverted pendulum model (LIPM) and generate a w ...

IEEE2021

Rocker oscillator time bases

Simon Nessim Henein, Ilan Vardi

Since the invention of the pendulum clock by Christiaan Huygens in 1657, precision timekeepers have been regulated by oscillators. Although the pendulum is not an isochronous oscillator, its introduction as a time basis for clock regulation led to a signif ...

2021

Device for measuring a force exerted on an object

Simon Nessim Henein, Charles Baur, Mohammad Hussein Kahrobaiyan, Mohamed Gamal Abdelrahman Ahmed Zanaty

The present invention relates to a device for measuring a contact force exerted by an object on a probe comprising a lever and said probe for contacting the object. The lever is pivotably coupled to a body by coupling means. The device comprising a fixed f ...

2020

No difference in 13-year survival after medial pivot or central pivot mobile bearing total knee arthroplasty. A propensity matched comparative analysis

Brigitte Jolles-Haeberli

Purpose The present study was designed to evaluate the long-term results (more than 10 years) of mobile bearing total knee arthroplasty (TKA) and to compare the survival of medial pivot axis (MPA) and central pivot axis (CPA) TKAs. The primary hypothesis w ...

2021

Foucault pendulum properties of spherical oscillators

Simon Nessim Henein, Ilan Vardi, Patrick Robert Flückiger

In 1851 Léon Foucault created a sensation with his pendulum providing a direct demonstration of the turning of the Earth. This simple device consists of a pendulum which is launched in a purely planar orbit. Following Mach's principle of inertia, the mass ...

euspen2020

Flexure-Pivot Oscillator Restoring Torque Nonlinearity and Isochronism Defect

Simon Nessim Henein, Etienne Frédéric Gabriel Thalmann, Mohammad Hussein Kahrobaiyan

Flexure pivot based oscillators can advantageously replace the hairspring and balance wheel, the time base used in mechanical watches, by drastically reducing friction. However, flexure pivots have drawbacks including gravity sensitivity and restoring torq ...

AMER SOC MECHANICAL ENGINEERS2018

Axo: Detection and Recovery for Delay and Crash Faults in Real-Time Control Systems

Jean-Yves Le Boudec, Simon Bliudze, Wajeb Saab

Real-time control systems use controllers that compute and issue setpoints within stringent delay constraints. Failure to do so, due to a crash or delay as a result of software and/or hardware faults, can cause failure of the controlled resources. Recently ...

2018

The motion of a 2D pendulum in a channel subjected to an incoming flow

François Gallaire, Andrea Fani

The flow around a tethered cylinder subjected to an incoming flow transverse to its main axis and confined in a channel is investigated by means of global stability analysis of the full coupled body-fluid problem. When the cylinder is strongly confined (ra ...

Cambridge University Press2015

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Auke Ijspeert, Salman Faraji, Soha Pouya

In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...

2014

A Multidisciplinary Approach for Model Predictive Control Education: A Lego Mindstorms NXT-based Framework

Simone Casale Brunet

This work introduces an educational framework based on the Lego Mindstorms NXT robotic platform used to outline both the theoretical and practical aspects of the Model Predictive Control (MPC) theory. The framework has been developed in the widely used Mat ...

Springer Verlag2014

Finite Dimensional Methods for Differential Flatness

Basile Graf

In Control System Theory, the study of continuous-time, finite dimensional, underdetermined systems of ordinary differential equations is an important topic. Classification of systems in different categories is a natural initial step to the analysis of a g ...

EPFL2013

A Lego Mindstorms NXT Experiment for Model Predictive Control Education

Simone Casale Brunet

This paper presents an educational framework based on the Lego Mindstorms NXT robotic platform used to outline both the theoretical and practical aspects of the Model Predictive Control theory. The case of a two-wheeled inverted pendulum is considered as a ...

2013

Distributed Synthesis and Control of Constrained Linear Systems

Colin Neil Jones, Melanie Nicole Zeilinger

This work presents an approach for both dis- tributed synthesis and control for a network of discrete-time constrained linear systems without central coordinator. Every system in the network is dynamically coupled to a number of neighboring systems and it ...

2012

Stabilization of the cart-pendulum system through approximate manifold decomposition

Dominique Bonvin, Philippe Müllhaupt, David Ingram

This paper proposes a feedback law capable of swinging up and stabilizing the cartpendulum system. The approach uses an iterative algorithm that is typically used to construct a locally linearizing output for nonlinear control-affine systems. However, rath ...

2011

Global Stabilization of an Inverted Pendulum – Control Strategy and Experimental Verification

Dominique Bonvin

The problem of swinging up an inverted pendulum on a cart and controlling it around the upright position has traditionally been treated as two separate problems. This paper proposes a control strategy that is globally asymptotically stable under actuator s ...

2009

Robust Predictive Control Based on Neighboring Extremals

Dominique Bonvin, Sébastien Gros

The performance of a predictive controller is typically poor when the true plant evolution deviates significantly from that predicted by the model. A robust control approach that considers model uncertainty explicitly is then needed. However, it is often d ...

2006