Long question 1 (Total 20 points) Tests the Core outcomes 1…
Long question 1 (Total 20 points) Tests the Core outcomes 1 and 2 You can model a standing robot as an inverted pendulum hinged at the ankle joint O. It has mass m and moment of inertia JO about angle O. Distance of the center of mass from ankle O is L. The ankle motor is given a voltage V and current I. It provides a torque T and speed ω. The aim is to keep the robot stable in the vertical position (
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