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

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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1489-1494
ページ数6
ISBN(電子版)9781509059980
DOI
出版ステータスPublished - 2017 8月 21
イベント2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
継続期間: 2017 7月 32017 7月 7

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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