Disturbance observer-based balance control of robotic biped walkers under slip

Yoshitaka Abe, Kuo Chen, Mitja Trkov, Jingang Yi, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

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 languageEnglish
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1489-1494
Number of pages6
ISBN (Electronic)9781509059980
DOIs
Publication statusPublished - 2017 Aug 21
Event2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
Duration: 2017 Jul 32017 Jul 7

Other

Other2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
CountryGermany
CityMunich
Period17/7/317/7/7

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