Adaptive inverse dynamics control for a biped locomotion system

Author

Yang, Jiann-Shiou

Author_Institution

Dept. of Comput. Eng., Minnesota Univ., Duluth, MN, USA

fYear

1993

fDate

13-16 Sep 1993

Firstpage

935

Abstract

We perform a control study on a three-degree-of-freedom dynamical biped locomotion system. Based on the dynamics of the walking gait and desired joint trajectories, a robust adaptive control scheme consisting of a control law and an adaptation law was chosen. The control law has the structure of the inverse dynamics servo but uses estimates of the dynamics parameters in the computation of torques which propel the biped. The adaptation law uses the tracking error to compute the parameter estimates for the control law. Simulations show that the tracking errors are acceptably small and the performance is robust despite ±25% deviations in the initial parameter estimates

Keywords

adaptive control; dynamics; mobile robots; parameter estimation; servomechanisms; tracking; biped locomotion system; dynamics; dynamics parameter estimation; inverse dynamics servo; joint trajectories; robust adaptive control; tracking error; walking gait; Adaptive control; Control systems; Error correction; Legged locomotion; Parameter estimation; Programmable control; Propulsion; Robust control; Servomechanisms; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1993., Second IEEE Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-1872-2

Type

conf

DOI

10.1109/CCA.1993.348211

Filename

348211