Title :
Nonlinear robust walking control of biped robot
Author :
Takai, Hiromu ; Nakamura, Hisakazu ; Nishitani, Hirokazu
Author_Institution :
Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Ikoma
Abstract :
In this paper, we propose a nonlinear robust walking controller for a biped robot based on an inverse optimal control that compensates for gravity and centrifugal force by pre-feedback input. Moreover, we confirm the effectiveness of the proposed method by an experiment.
Keywords :
legged locomotion; optimal control; biped robot; inverse optimal control; nonlinear robust walking controller; Control systems; Force control; Humanoid robots; Legged locomotion; Lyapunov method; Nonlinear control systems; Optimal control; Robot control; Robot sensing systems; Robust control; biped robot; compass type; control Lyapunov function; inverse optimal control;
Conference_Titel :
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-1761-2
Electronic_ISBN :
978-1-4244-1758-2
DOI :
10.1109/ROBIO.2007.4522292
