Observer-based control of a walking planar biped robot: stability analysis

被引：0
|
作者：
Lebastard, Vincent [1 ]
Aoustin, Yannick [1 ]
Plestan, Franck [1 ]
机构：
[1] Univ Nantes, IRCCyN, Ecole Cent Nantes, UMR 6597, F-44035 Nantes, France
来源：
PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2007年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the problem of the estimation of the absolute orientation of a dynamical stable five-link biped during a walking gait is tackled. The proposed solution is founded on the design of a nonlinear observer based on the "super-twisting" approach, such that the estimation error converges in finite time and only uses the measurements of the joint variables. This observer is coupled to a nonlinear control law which also converges in finite-time. The stability of the cyclic walking gait under the observer-based controller is proved.
引用
收藏
页码：2520 / 2525
页数：6
相关论文
共 50 条
  • [1] Observer-based control of a walking biped robot: stability analysis
    Lebastard, V.
    Aoustin, Y.
    Plestan, F.
    [J]. ADVANCES IN CLIMBING AND WALKING ROBOTS, PROCEEDINGS, 2007, : 393 - 401
  • [2] Observer-based control of a biped robot
    Lebastard, V
    Aoustin, Y
    Plestan, F
    [J]. ROMOCO' 04: PROCEEDINGS OF THE FOURTH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL, 2004, : 67 - 72
  • [3] Observer-based control of a walking biped robot without orientation measurement
    Lebastard, V.
    Aoustin, Y.
    Plestan, F.
    [J]. ROBOTICA, 2006, 24 (385-400) : 385 - 400
  • [4] Observer-based dynamic walking control for biped robots
    Czarnetzki, Stefan
    Kerner, Soeren
    Urbann, Oliver
    [J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2009, 57 (08) : 839 - 845
  • [5] Observer-Based Control Model Test in Biped Robot
    Carvalho, Joao
    Nakai, Mauricio Eiji
    [J]. SYNERGETIC COOPERATION BETWEEN ROBOTS AND HUMANS, VOL 2, CLAWAR 2023, 2024, 811 : 125 - 135
  • [6] Absolute orientation estimation for observer-based control of a five-link walking biped robot
    Lebastard, Vincent
    Aoustin, Yannick
    Plestan, Ranck
    [J]. ROBOT MOTION AND CONTROL: RECENT DEVELOPMENTS, 2006, 335 : 181 - 199
  • [7] Observer-based control for absolute orientation estimation of a five-link walking biped robot
    Lebastard, Vincent
    Aoustin, Yannick
    Plestan, Franck
    [J]. PROCEEDINGS OF 2006 MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1 AND 2, 2006, : 956 - +
  • [8] STABILITY ANALYSIS AND ROBUST CONTROL OF A PLANAR UNDERACTUATED BIPED ROBOT
    Dehghani, Reza
    Fattah, Abbas
    [J]. INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 2010, 7 (04) : 535 - 563
  • [9] Stability analysis and time-varying walking control for an under-actuated planar biped robot
    Wang, Ting
    Chevallereau, Christine
    [J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2011, 59 (06) : 444 - 456
  • [10] Stability and control of dynamic walking for a five-link planar biped robot with feet
    Leon XU
    [J]. Control Theory and Technology, 2007, (02) : 113 - 120
12345