Modeling and Optimization of Security Robot Gait Balance Based on the Principle of Inverted Pendulum

Abstract

Robots have been increasingly applied to security protection. The modeling and optimal control of robot gait balance were discussed in this study based on a double inverted pendulum system. First, a trolley-type double inverted pendulum system was obtained by abstracting human gaits, a mathematical model corresponding to this system was constructed through the analytical dynamics method. Then a double inverted pendulum system controller was designed using the linear quadratic type control algorithm, a gain matrix K with the optimal performance was obtained by combining the experience piece-try method with regional dichotomy, and the effectiveness of modeling and optimization was demonstrated by comparing the typical value with optimized value in the end. This study is expected to provide a reference for enhancing the gait balance of security robots.