Nonlinear robust walking control of biped robot

In this paper, we propose a nonlinear robust walking controller for a biped robot based on an inverse optimal control that compensates for gravity and centrifugal force by pre-feedback input. Moreover, we confirm the effectiveness of the proposed method by an experiment.

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Bibliographische Detailangaben
Hauptverfasser:	Takai, H., Nakamura, H., Nishitani, H.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	biped robot compass type control Lyapunov function Control systems Force control Humanoid robots inverse optimal control Legged locomotion Lyapunov method Nonlinear control systems Optimal control Robot control Robot sensing systems Robust control
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Beschreibung
Zusammenfassung:	In this paper, we propose a nonlinear robust walking controller for a biped robot based on an inverse optimal control that compensates for gravity and centrifugal force by pre-feedback input. Moreover, we confirm the effectiveness of the proposed method by an experiment.
DOI:	10.1109/ROBIO.2007.4522292