ADAPTIVE-CONTROL OF A BIPED ROBOT WALKING ACROSS A HORIZONTAL PLANE

被引：0
|
作者：
SHISHKIN, SL [1 ]
机构：
[1] RUSSIAN ACAD SCI,INST INFORMAT & AUTOMAT,199178 ST PETERSBURG,USSR
来源：
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING | 1992年 / 6卷 / 03期
关键词：
ADAPTIVE CONTROL; BIPED ROBOT LOCOMOTION;
D O I：
10.1002/acs.4480060314
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The problem of biped robot walk control is considered. Intertial robot parameters are assumed unknown and control actions are applied only twice during one step. For adaptation the recurrent aim inequalities method is used. The control algorithm is designed and theoretically justified. Computer simulation results are presented.
引用
收藏
页码：259 / 264
页数：6
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