Hardware-in-the-loop simulation on linear-quadratic controller for stabilization of a humanoid robot during walking

In this paper are presented results from design of linear-quadratic controller for stabilization of a humanoid robot. The weighting matrices of the LQR regulator are tuning experimentally. Obtained controller parameters provide required quality of outputs signals in system. A software in Simulink
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environment for code generation which is embedded in Arduino Mega 2560 is developed. The embedded software is validated by HIL simulation.