Robust Walking Control Algorithm of Biped Robot in Rough Ground

被引：0

作者：

Dakhli, Imen ^{[1
]}

Maherzi, Elyes ^{[1
]}

Besbes, Mongi ^{[1
]}

机构：

[1] Natl Sch Carthage, Unity Mechatron Syst & Signals, Tunis, Tunisia

来源：

2016 13TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS & DEVICES (SSD) | 2016年

关键词：

Dynamic controller; predictive control; uncertainties; linear matrix inequality (LMI); biped robot; walking stability;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

This paper presents an algorithm of a robust controller used for the stabilization of biped robot walking gait. The robot is described by a kajita's model with norm bounded uncertainties to ensure a more realistic numerical model. The proposed robust dynamic controller relies on the use of predictive control theory (MPC) and the resolution of a convex optimization problem with Linear Matrix Inequalities (LMI) at every sampling period. The generated control law allows a real-time working robot even in rough ground or unknown environment.

引用

页码：762 / 767

页数：6

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