A human being balances himself with various parts of his body according to each given situation. A kind of balancing is using only one joint to keep balance. The study on posture stabilization of an inverted pendulum is fundamental to solve the problem of stabilizing a specific posture of the human being.
In this study, an inverted pendulum consisting of 2 edges and 1 joint is stabilized on one edge, and a distinctive condition for stabilizing a posture on an edge is studied.
Because a rategyro used in this study has a small measurement range, it is dominant for achieving stability. And, because an inverted pendulum is very unstable, it makes a big swing to stabilize itself, even though the difference between the state of system and the equilibrium state is small. Therefore, the system located at disequilibrium state is dependent of the influence of rategyro to stabilize a posture. It is stabilized by means of finding a distinctive condition which is combined by rategyro influence and initial condition for control.
Suggestion for distinctive condition is proposed and experiments and simulation is performed.
