OBSERVER DESIGN TO ESTIMATE SHANK ANGLE FOR MOTION CONTROL OF AN UNDERACTUATION BIPED ROBOT

被引：0

作者：

Dehghani, Reza ^{[1
]}

Fattah, Abbas ^{[1
]}

机构：

[1] Isfahan Univ Technol, Dept Mech Engn, Esfahan 8415683111, Iran

来源：

PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, VOL 7, PTS A AND B | 2010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, a nonlinear observer is designed to estimate the angle of leg for an underactuation biped robot with four links and three actuators. First, using a diffeomorphism transformation, the nonlinear system changes to a system with triangular form. Then, a nonlinear observer, based on the second order sliding mode, is designed for the transformed system. The control law uses only measurable variables, that can be estimated by the observer, for tracking the desired stable gait. Finally, simulation results are presented to show the behavior of biped robot and convergency of the observer in finite time during stable walking.

引用

页码：879 / 885

页数：7

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