TY - GEN
T1 - Disturbance observer-based balance control of robotic biped walkers under slip
AU - Abe, Yoshitaka
AU - Chen, Kuo
AU - Trkov, Mitja
AU - Yi, Jingang
AU - Katsura, Seiichiro
N1 - Funding Information:
The work was supported in part by the US NSF under award CMMI 1334389. The work by Y. Abe was supported in part by a Grant-in-Aid to the Program for Leading Graduate School for “Science for Development of Super Mature Society” from the Ministry of Education, Culture, Sport, Science, and Technology in Japan.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/21
Y1 - 2017/8/21
N2 - 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.
AB - 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.
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U2 - 10.1109/AIM.2017.8014229
DO - 10.1109/AIM.2017.8014229
M3 - Conference contribution
AN - SCOPUS:85028762563
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1489
EP - 1494
BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Y2 - 3 July 2017 through 7 July 2017
ER -