DocumentCode
417039
Title
A static balance control under periodic external force
Author
Ito, Satoshi ; Aoyama, Yoshihiro ; Kawasaki, Harushisa
Author_Institution
Fac. of Eng., Gifu Univ., Japan
Volume
2
fYear
2003
fDate
4-6 Aug. 2003
Firstpage
1967
Abstract
In this paper, we present a control method of upright posture of biped model under periodic external forces with known period. First, the upright posture is maintained based on the feedback of ground reaction forces. However, being exposed to such a stationary condition for a while, external forces are estimated using the framework of adaptive control. Consequently, the balance maintenance is achieved without feedback of ground reaction forces.
Keywords
adaptive control; force feedback; legged locomotion; motion control; position control; adaptive control; biped model; ground reaction forces feedback; periodic external force; posture control; static balance control;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2003 Annual Conference
Conference_Location
Fukui, Japan
Print_ISBN
0-7803-8352-4
Type
conf
Filename
1324282
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