Nonlinear robust walking control of biped robot

被引：0

作者：

Takai, Hiromu ^{[1
]}

Nakamura, Hisakazu ^{[1
]}

Nishitani, Hirokazu ^{[1
]}

机构：

[1] Nara Inst Sci & Technol, Grad Sch Informat & Sci, Nara, Japan

来源：

2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5 | 2007年

关键词：

biped robot; compass type; inverse optimal control; control Lyapunov function;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose a nonlinear robust walking controller for a biped robot based on an inverse optimal control that compensates for gravity and centrifugal force by pre-feedback input. Moreover, we confirm the effectiveness of the proposed method by an experiment.

引用

页码：952 / 957

页数：6

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