A control architecture with stabilizer for 3D stable dynamic walking of SHERPA biped robot on compliant ground
| Autor: | Ahmed Chemori, S. Le Floch, Sébastien Krut, E. Dombre |
|---|---|
| Přispěvatelé: | Conception et commande de robots pour la manipulation (DEXTER), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM) |
| Rok vydání: | 2010 |
| Předmět: |
0209 industrial biotechnology
Robot kinematics Computer science 02 engineering and technology [SPI.AUTO]Engineering Sciences [physics]/Automatic Reduced order Computer Science::Hardware Architecture 020901 industrial engineering & automation Control theory Digital pattern generator Robustness (computer science) 0202 electrical engineering electronic engineering information engineering Computed torque 020201 artificial intelligence & image processing Architecture Robust control Simulation Biped robot |
| Zdroj: | Humanoids Humanoids, Dec 2010, Nashville, TN, United States. pp.480-485 HAL |
| DOI: | 10.1109/ichr.2010.5686274 |
| Popis: | International audience; This paper deals with design and implementation of a control architecture for 3D dynamic walking with foot/ground compliant contact. This architecture includes a ZMP-based pattern generator, a computed torque controller based on the reduced order dynamics of the system, and a stabilizer to enhance the stability robustness of the control architecture. The effectiveness of the proposed control architecture is shown through numerical simulations. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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