Anyone know about balancing algorithms of a biped robot?

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Davut Akdaş

First you need a dynamic model of your biped robot.

Then, you can use center of gravity or zero moment point techniques to begin with.

Do you have at least a kinematic model?

Chenggang Liu

If you are considering about standing balance and have a multi-link dynamic model, LQR is the easiest way.

Sajjad Safavi

u can use linear inverted pendulum model and ZMP staibility criteria and model predictive control. as a reference u can see this paper:

online walking motion generation with automatic foot step placement by Andrei Herdt and...

Dmytro Humennyi

Hello! We solved this problem by analyzing the distribution of reaction forces on foot. If you are interested - write. I can send a link to the publication.

Muhammad Yaqoob Javed

@Dmytro Humennyi

yes i am interested please send me the link

@Jose Victor Nunez Nalda

We are initially testing it on classical flat floor and fixed.

@Muhammad Yaqoob Javed

Look at this thesis

Article Hybrid Control Method for Stabilizing if Walking Robot on Ir...

Conference Paper Planning Algorithm of Quasi-Static Locomotion for Humanoid R...

Thesis A Hybrid Control Method for Stabilizing of Walking Robot on ...

Muhammad Yeza Baihaqi

the most simple one, PID, but sure already out class