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

页码：67 / 72

页数：6

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