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
相关论文
共 50 条
  • [41] Control of Biped Walking Robot for Human Living Environment
    Fujimoto, Yasutaka
    Imai, Taichi
    Kawamura, Atsuo
    Asano, Yosuke
    IEEJ TRANSACTIONS ON ELECTRICAL AND ELECTRONIC ENGINEERING, 2009, 4 (02) : 218 - 230
  • [42] Control architecture and walking strategy for a pneumatic biped robot
    Spampinato, G.
    Muscato, G.
    CLIMBING AND WALKING ROBOTS, 2006, : 269 - 276
  • [43] Robust control for stable dynamic walking of biped robot
    Huai Chuangfeng
    Fang Yuefa
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 1750 - +
  • [44] Walking control of biped robot NAO based on CPG
    Cai, Zhiqiang
    Liu, Chengju
    Chen, Qijun
    Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition), 2011, 39 (SUPPL. 2): : 40 - 43
  • [45] Optimal Control for Stable Walking Gait of a Biped Robot
    Nhat Dang Khoa Nguyen
    Ba Long Chu
    Van Tien Anh Nguyen
    Van Hien Nguyen
    Tan Tien Nguyen
    2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), 2017, : 309 - 313
  • [46] Trajectory Generation and Control for a Biped Robot Walking Upstairs
    Park, Chan-Soo
    Ha, Taesin
    Kim, Joohyung
    Choi, Chong-Ho
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2010, 8 (02) : 339 - 351
  • [47] A Stable Walking Control of Two - Legs Biped Robot
    Ki, Won Sung
    Shim, Byung Kyun
    Hwang, Won Jun
    Kang, Eun Uk
    Lee, Woo Song
    Han, Sung Hyun
    INTELLIGENT ROBOTICS AND APPLICATIONS, PT II, 2013, 8103 : 265 - 273
  • [48] ADAPTIVE-CONTROL OF ROBOT MANIPULATOR MOTION
    JOHANSSON, R
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1990, 6 (04): : 483 - 490
  • [49] Modeling and control of a 6 DOF biped walking robot
    Panahi, Mohammad
    Khandan, Rasool
    Eghtesad, Mohammad
    WMSCI 2007 : 11TH WORLD MULTI-CONFERENCE ON SYSTEMICS, CYBERNETICS AND INFORMATICS, VOL V, POST CONFERENCE ISSUE, PROCEEDINGS, 2007, : 209 - 213
  • [50] Trajectory generation and control for a biped robot walking upstairs
    Chan-Soo Park
    Taesin Ha
    Joohyung Kim
    Chong-Ho Choi
    International Journal of Control, Automation and Systems, 2010, 8 : 339 - 351
12345