Title :
Observer-based control for absolute orientation estimation of a five-link walking biped robot
Author :
Lebastard, V. ; Aoustin, Y. ; Plestan, F.
Author_Institution :
IRCCyN, Nantes Univ.
Abstract :
Reference trajectories for a cyclic walking gait of a five-link biped without feet are designed by optimization. These reference trajectories are polynomial functions using the absolute orientation of the virtual stance leg which is quite difficult to measure. Then a high gain observer coupled with a nonlinear control law is designed to estimate this absolute orientation of the virtual stance leg
Keywords :
control system synthesis; functions; legged locomotion; motion control; motion estimation; nonlinear control systems; observers; optimisation; polynomials; position control; robot dynamics; absolute orientation estimation; cyclic walking gait; five-link walking biped robot; high gain observer; nonlinear control law; optimization; polynomial function; reference trajectory; virtual stance leg; Centralized control; Design optimization; Equations; Foot; Leg; Legged locomotion; Nonlinear systems; Observers; Polynomials; Robots;
Conference_Titel :
Control and Automation, 2006. MED '06. 14th Mediterranean Conference on
Conference_Location :
Ancona
Print_ISBN :
0-9786720-1-1
Electronic_ISBN :
0-9786720-0-3
DOI :
10.1109/MED.2006.328688
