Observer-based control of a biped robot

被引：0
|
作者：
Lebastard, V [1 ]
Aoustin, Y [1 ]
Plestan, F [1 ]
机构：
[1] Univ Nantes, Ecole Cent Nantes, CNRS, Unite Mixte 6957,IRCCyN, F-44321 Nantes 03, France
来源：
ROMOCO' 04: PROCEEDINGS OF THE FOURTH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL | 2004年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The problems under interest are the stabilization in single support of the vertical posture and the walking control of a three-link biped, via controllers and nonlinear observers. The control laws are designed, for the stabilization by using a linear model and the associated Jordan form, and for the walking a decoupling input-output linearization control. The observers are necessary to reconstruct the full state, viewed that the absolute angular value is not measured.
引用
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页码：67 / 72
页数：6
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