DocumentCode
3450839
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
fYear
2007
fDate
15-18 Dec. 2007
Firstpage
952
Lastpage
957
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ROBIO.2007.4522292
Filename
4522292
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