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.
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页码：956 / +
页数：2
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