Uploaded July 2007 | Updated September 2026, 7 hours ago

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The simulation was rendered using Simulink and a pricise model of Bioloid Humanoid. The control technique involved 2 stages. The first (pumping) is a normal PD control. The second (close to the hand-stand position) uses an optimal control technique - LQR (Linear Quadratic Regulator).
The humanoid was reduced to a 3-body inverted pendulum model.
See http://humanoids.dem.ist.utl.pt/ and robosavvy.com for more information.