University of Birmingham > Talks@bham > Artificial Intelligence and Natural Computation seminars > The Physics and Control of Balancing on a Point

The Physics and Control of Balancing on a Point

Add to your list(s) Download to your calendar using vCal

If you have a question about this talk, please contact Hector Basevi.

Host: Dr Morteza Azad (

Speaker’s website:

Abstract: In the field of robotics, the task of actively balancing on a narrow support, such as a point or line, is usually seen as a control problem; and it has been solved many times using various ideas from control theory. This talk takes a fresh look at the problem from a physical point of view, which yields both a simple model of the physical process of balancing and a simple control system to accomplish it. For the special case of balancing in a plane, the robot’s behaviour is characterized by just two numbers, and the controller’s gains are trivial functions of these numbers. The resulting control system is able to balance the robot in such a way that a single joint can perform two tasks at once: balance the robot and simultaneously follow a commanded motion trajectory. Several examples of balancing behaviours will be shown and explained, including the technique of leaning in anticipation of a future motion command.

This talk is part of the Artificial Intelligence and Natural Computation seminars series.

Tell a friend about this talk:

This talk is included in these lists:

Note that ex-directory lists are not shown.


Talks@bham, University of Birmingham. Contact Us | Help and Documentation | Privacy and Publicity.
talks@bham is based on from the University of Cambridge.