Abstract
We present balance recovery control of bipedal robotic walkers under foot slip disturbance. A dynamic model is first presented to capture the bipedal locomotion under slip disturbance. Two different control approaches are presented: one is based on the feedback linearization and the second one uses the disturbance observer (DOB) method. The recovery strategies and profiles are designed through linear inverted models and inspired by human walking locomotion profiles. We present and compare the simulation results under both the feedback linearization-And DOB-based control designs.
| Original language | English |
|---|---|
| Title of host publication | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1489-1494 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509059980 |
| DOIs | |
| Publication status | Published - 2017 Aug 21 |
| Event | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Duration: 2017 Jul 3 → 2017 Jul 7 |
Other
| Other | 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 |
|---|---|
| Country | Germany |
| City | Munich |
| Period | 17/7/3 → 17/7/7 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
- Software
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Cite this
Abe, Y., Chen, K., Trkov, M., Yi, J., & Katsura, S. (2017). Disturbance observer-based balance control of robotic biped walkers under slip. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 (pp. 1489-1494). [8014229] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2017.8014229