Title :
A control architecture with stabilizer for 3D stable dynamic walking of SHERPA biped robot on compliant ground
Author :
Chemori, A. ; Le Floch, S. ; Krut, S. ; Dombre, E.
Author_Institution :
LIRMM, Univ. Montpellier 2, Montpellier, France
Abstract :
This paper deals with design and implementation of a control architecture for 3D dynamic walking with foot/ground compliant contact. This architecture includes a ZMP-based pattern generator, a computed torque controller based on the reduced order dynamics of the system, and a stabilizer to enhance the stability robustness of the control architecture. The effectiveness of the proposed control architecture is shown through numerical simulations.
Keywords :
legged locomotion; robust control; torque control; 3D stable dynamic walking; SHERPA biped robot; ZMP-based pattern generator; computed torque controller; control architecture; foot/ground compliant contact; reduced order dynamics; stability robustness; Leg; Legged locomotion; Mathematical model; Robot kinematics; Three dimensional displays; Trajectory;
Conference_Titel :
Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on
Conference_Location :
Nashville, TN
Print_ISBN :
978-1-4244-8688-5
Electronic_ISBN :
978-1-4244-8689-2
DOI :
10.1109/ICHR.2010.5686274
