Angular momentum based balance controller for an under-actuated planar robot

Morteza Azad*, Roy Featherstone

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

14 Citations (Scopus)


In this paper, a new control algorithm based on angular momentum is presented for balancing an under-actuated planar robot. The controller is able to stabilize the robot in any unstable balanced configuration in which the robot is controllable, and also it is able to follow a class of arbitrary trajectories without losing balance. Simulation results show the good performance of the controller in balancing and trajectory tracking motions of the robot. The simulations also show that the proposed controller is robust to significant imperfections in the system, such as errors in the controller’s dynamic model of the robot and imperfections in the sensors and actuators. The new controller is compared with three existing balance controllers and is shown to equal or outperform them.

Original languageEnglish
Pages (from-to)93-107
Number of pages15
JournalAutonomous Robots
Issue number1
Early online date20 Jun 2015
Publication statusPublished - 1 Jan 2016


  • Balance control
  • Momentum based control
  • Under-actuated robots

ASJC Scopus subject areas

  • Artificial Intelligence


Dive into the research topics of 'Angular momentum based balance controller for an under-actuated planar robot'. Together they form a unique fingerprint.

Cite this