Robust Cascade Controller for Nonlinearly Actuated Biped Robots: Experimental Evaluation

In this paper we consider the postural stability problem for nonlinearly actuated quasi-static biped robots, both with respect to the joint angular positions and also with reference to the gripping effect between the foot/feet against the ground during robot locomotion. Zero moment point based mathe...

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Veröffentlicht in:	The International journal of robotics research 2004-10, Vol.23 (10-11), p.1075-1095
Hauptverfasser:	Caballero, Rony, Armada, Manuel A., Akinfiev, Teodor
Format:	Artikel
Sprache:	eng
Schlagworte:	Control systems Experiments Mathematical models Mobility Prototypes Robots
Online-Zugang:	Volltext
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