Balancing a humanoid on a bongo board

In this project, we design a non-linear controller for balancing a humanoid on a bongo board, and a trajectory follower to move it while balanced.

In this work, we look at the problem of balancing a humanoid on a bongo board. We explore the stability basin of LQR control at various equilibrium points. A nonlinear controller is made by creating a library of LQR controllers at various equillibrium points. These equilibrium points are sampled in such a way, such that their combined stability basins span accross most of the state space.