Comparison study of two inverted pendulum models for balance recovery

Z. Li, C. Zhou, H. Dallali, N. G. Tsagarakis, D. G. Caldwell

Research output: Chapter in Book/Report/Conference proceedingConference contribution


The inverted pendulum model (IPM) represents better a human-like gait, however, its nonlinearity introduced by the impact during the change of support leg prevents its implementation. The analytic feature of the Linear Inverted Pendulum Model (LIPM) makes it widely applied for the bipedal gait control and balance recovery. We resolve the analytic solution issue for the IPM by using the principle orders in the Taylor series, and further prove the predictive properties of both models. Our theoretical and simulation studies quantitatively compare these two models on the prediction of the target foot placement and allowable swing time. The dynamic simulation and preliminary experiments validated the effectiveness of the IPM based foot placement control.
Original languageEnglish
Title of host publication2014 IEEE-RAS International Conference on Humanoid Robots
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Print)978-1-4799-7174-9
Publication statusPublished - 1 Nov 2014


  • control nonlinearities
  • humanoid robots
  • legged locomotion
  • nonlinear control systems
  • robot dynamics
  • IPM based foot placement control
  • LIPM
  • Linear Inverted Pendulum Model
  • Taylor series
  • balance recovery
  • bipedal gait control
  • human-like gait
  • nonlinearity
  • principle orders
  • support leg change
  • swing time
  • target foot placement
  • Analytical models
  • Foot
  • Kinetic energy
  • Legged locomotion
  • Predictive models
  • Robot kinematics


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