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A balance control algorithm (variable structure-type algorithm) based on dynamic tyre force tracking has been devised.
At the same time, the motion of the trunk and the waist for stability is generated online by a balance control method.
It regulates cell polarity during cell migration [21] by antagonizing PI3 kinase for a balance control of PIP2/PIP3 to mediate chemotaxis [22], [23].
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A reduced order approach is proposed to achieve a swing-up control and a balancing control.
Specifically, the equalization profile is shaped by finding a balancing control threshold through carrying out an integration of rectangular and triangular sections.
To verify the validity and effectiveness of the designed stability analysis methods, the suggested analysis techniques are applied to a balancing control of inverted pendulum systems.
In Stage 2, the states of the reduced system are guaranteed by maintaining the (n− 2) control laws designed in Stage 1. Meanw'hile, a swing-up control law and a balancing control law are designed for the rest actuated link.
Lower sways lead to a higher score, indicating a better balance control performance (a score of 100 represents no sway, while 0 indicates sway that exceeds the limit of stability, resulting in a fall).
The controller can handle a biped locomotion, a dynamic balance control at the standing position and collision avoidance motions for the robots.
This paper proposes a torque balance control algorithm using a torque estimation model to solve these problems.
Regardless of one's age, an adequate balance control is an important ability in relation to coping with daily activities, participating in sport activities and avoiding sport injuries [ 1- 5].
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