Title :
Constraint of center of gravity in a biped walking robot via sliding mode approach
Author :
Takemori, Fumiaki ; Kitamura, Akira ; Kushida, Daisuke
Author_Institution :
Dept. of Inf. & Knowledge Eng., Tottori Univ., Japan
fDate :
28 Sept.-2 Oct. 2004
Abstract :
For the purpose of attitude control of a biped locomotion robot, in this paper, we firstly present the modeling of dynamical system explicitly represented in terms of horizontal component of the center of gravity (COG). Secondly for the robot system in sagittal plane, a control scheme to realize an arbitrary COG positioning is developed via sliding mode approach.
Keywords :
attitude control; legged locomotion; time-varying systems; variable structure systems; attitude control; biped walking robot; center of gravity; dynamical system; sliding mode control; Actuators; Cities and towns; Gravity; Humanoid robots; Knee; Leg; Legged locomotion; Robot sensing systems; Robust control; Sliding mode control;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389685
