Control System and Stability

[Jawad Akbar]

I am currently designing a small 2kg quadrupedal robot from scratch. I am performing my simulations on Matlab Simulink. I have formulated my inverse and forward kinematics and i am actuating my joints via angle actuation. However I am unable to develop a logic for my control system algorithm. I want my bot to trot, however, my bot topples over and is not stable. I want to formulate a feedback control system for my bot and ensure a stable locomotion. Can you guide me to any resources that i can use to design my logic and algorithm for control system. I am currently working on Simulink and I will implement the control system via an Arduino Mega.