Design of a stabilizing controller for a ten-degree-of-freedom bipedal robot using linear quadratic regulator theory

被引：2

作者：

Akdas, D ^{[1
]}

Medrano-Cerda, GA ^{[1
]}

机构：

[1] Univ Salford, Dept Elect & Elect Engn, Salford M5 4WT, Lancs, England

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2001年 / 215卷 / 01期

关键词：

stabilizing controller; bipedal robot; linear quadratic regulator theory;

D O I：

10.1243/0954406011520490

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper considers the design and evaluation of stabilizing controllers for a ten-degree-of-freedom (10 DOF) biped robot using linear quadratic optimal control techniques and reduced-order observers. The controllers are designed using approximate planar dynamical models for the sagittal and lateral planes. Experiments were carried out to test the control system when the biped robot was in the double-support phase and the robot was subject to external disturbances. Although the control system is based on single-support models, the experimental results have shown that the robot successfully kept its given posture under disturbances.

引用

页码：27 / 43

页数：17

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