Dynamic Modelling and Control of Self-Balancing One-Legged Robot

One-legged robot is a class of underactuated legged robots that has been a challenging system to develop and control. There are limitless possible configurations of such system, each with its own specific advantages and limitations. This paper presents the dynamic modelling of a single contact point one-legged robot based on Euler-Lagrange formulation. The obtained equations of motion are then used as basis to develop an experimental prototype and its balancing control system. The mechanical configuration used in the prototype allows the decoupling of the control systems on the coronal and sagittal planes. The experimental results are presented.