Sliding mode observer with no orientation measurement for a walking biped

被引：0
|
作者：
Lebastard, V. [1 ]
Aoustin, Y. [1 ]
Plestan, F. [1 ]
机构：
[1] Univ Nantes, IRCCyN, Ecole Cent Nantes, CNRS, BP 92101,1 Rue Noe, F-44321 Nantes 03, France
来源：
CLIMBING AND WALKING ROBOTS | 2006年
关键词：
second order sliding mode observer; Poincares sections; angular momentum; finite time convergence; biped;
D O I：
10.1007/3-540-26415-9_48
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
An observer-based controller is proposed to estimate the absolute orientation of a three-link biped without feet, during a cyclic walking gait composed of single supports and impacts. The angular moment is used for the design of the observer, based on second-order sliding mode approach, and for analysis of the stability of the walking.
引用
收藏
页码：399 / 406
页数：8
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