Standing Balance Control using an Optimal Trajectory Library

Standing balance control using the LQR under an impulsive push (25 Ns)

Standing balance control using the LQR under a constant push

Standing balance control using an optimal trajectory library under a constant push

Standing balance control using an optimal trajectory library under random pushes

Standing balance control using an optimal trajectory library under impulsive pushes

4-link robot standing balance control using a trajectory library under impulsive push

4-link robot standing balance control using a trajectory library under constant push

Standing balance control using an optimal trajectory library — experiment