Title :
Observer-based control of a biped robot
Author :
Lebastard, V. ; Aoustin, Y. ; Plestan, F.
Author_Institution :
Ecole Centrale de Nantes, Nantes Univ., France
Abstract :
The problems under interest are the stabilization in single support of the vertical posture and the walking control of a three-link biped, via controllers and nonlinear observers. The control laws are designed, for the stabilization by using a linear model and the associated Jordan form, and for the walking a decoupling input-output linearization control. The observers are necessary to reconstruct the full state, viewed that the absolute angular value is not measured.
Keywords :
control system synthesis; input-output stability; legged locomotion; nonlinear control systems; observers; associated Jordan form; biped robot; input-output linearization control; observer-based control; Equations; Gravity; Jacobian matrices; Leg; Legged locomotion; Motion control; Robots; Symmetric matrices; Torso; Transmission line matrix methods;
Conference_Titel :
Robot Motion and Control, 2004. RoMoCo'04. Proceedings of the Fourth International Workshop on
Print_ISBN :
83-7143-272-0
DOI :
10.1109/ROMOCO.2004.240641
