Observer-based control for absolute orientation estimation of a five-link walking biped robot

被引：0

作者：

Lebastard, Vincent ^{[1
]}

Aoustin, Yannick ^{[1
]}

Plestan, Franck ^{[1
]}

机构：

[1] Univ Nantes, Ecole Cent Nantes, CNRS UMR 6597, IRCCyN, 1 Rue Noe,BP 92101, F-44321 Nantes 3, France

来源：

PROCEEDINGS OF 2006 MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1 AND 2 | 2006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：

Reference trajectories for a cyclic walking gait of a five-link biped without feet are designed by optimization. These reference trajectories are polynomial functions using the absolute orientation of the virtual stance leg which is quite difficult to measure. Then a high gain observer coupled with a nonlinear control law is designed to estimate this absolute orientation of the virtual stance leg.

引用

页码：956 / +

页数：2

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