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Balancing a humanoid on a bongo board


Ruta Desai, Sanjiban Choudhury

Overview


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.

Course Details


Course Title: Dynamic Optimization
Instructor: Chris Atkeson

Abstract


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.

Details


Here is the webpage documenting the work.