Title :
0-Flat canonical form control scheme for Rabbit´s dynamic walking control
Author :
Bououden, Soraya ; Abdessemed, Foudil
Author_Institution :
PRISME, ENSI de Bourges, Bourges, France
Abstract :
This article proposes a canonical normal form for a class of 0-flat nonlinear systems to control a 7 d.o.f-biped robot. Sufficient geometrical conditions are given to transform the studied nonlinear systems into the proposed 0-flat canonical form, which enables us to compute the flat output as well. The results obtained are very convincing and show the usefulness of such a method in studying highly non-linear systems and designing control laws to drive them.
Keywords :
legged locomotion; motion control; nonlinear control systems; robot dynamics; 0-flat canonical form control scheme; 0-flat nonlinear system; biped robot; control laws design; geometrical condition; rabbit dynamic walking control; Equations; Legged locomotion; Mathematical model; Robot kinematics; Trajectory; Vectors;
Conference_Titel :
Advanced Robotics (ICAR), 2011 15th International Conference on
Conference_Location :
Tallinn
Print_ISBN :
978-1-4577-1158-9
DOI :
10.1109/ICAR.2011.6088609
