EZPhysics Model Identification

Following the methodology addressed in the last post to identify the dynamic in order to stabilize the humanoid like a triple inverted pendulum, we performed a new approach based in an identification (ARX model) with a greater order and a truncation to the desired order.

The results were very good, and its dynamic responses virtually identical to EZPhysics responses. See the detailed methodology and results here.

The follow steps is tune an LQR in the identified model to then apply it to model EPZhysics.