Adaptive Asymptotic Stable Biped Locomotion

摘要：

　　An adaptive controller is proposed in this paper for under-actuated biped locomotion.The gait planning is based on the rigid body dynamic equation of bipedal robots.The sliding mode feedback controllers are used for both gait stabilization and active joint control.Inverse dynamics based feedforward torque linearizes the plant.The model parameters are estimated on line per link and used not only for feed forward control but also for gait search.The asymptotic stability of the closed loop system is rigorously proved.

关键词： Biped locomotion under-actuated mobile robot virtual decomposition control gait planning adaptive control asymptotic stability

作者: LIU Li Michael LIANG Wenyuan

作者单位: Centre of Excellence for Intelligent Mechanical Systems,College of Engineering,Peking University,Beijing 100870,China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 8375-8380

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）