Dynamics of a one-legged robot

Abstract

This thesis presents a comprehensive treatment of the design, analysis and implementation of an inverted pendulum system. Legged motion in robots is primarily characterised by the problems of balance. It was thus decided to concentrate all efforts in investigating the problems associated with instability. For this purpose, the well-known inverted pendulum or broom-balancing problem had to be investigated. This thesis explores the principles of active balance and dynamic equilibrium. The purpose of this research is to establish a foundation of knowledge that can lead both to the construction of useful legged vehicles and to a better understanding of legged locomotion as it exists in nature.