DocumentCode
426205
Title
Constraint of center of gravity in a biped walking robot via sliding mode approach
Author
Takemori, Fumiaki ; Kitamura, Akira ; Kushida, Daisuke
Author_Institution
Dept. of Inf. & Knowledge Eng., Tottori Univ., Japan
Volume
2
fYear
2004
fDate
28 Sept.-2 Oct. 2004
Firstpage
1960
Abstract
For the purpose of attitude control of a biped locomotion robot, in this paper, we firstly present the modeling of dynamical system explicitly represented in terms of horizontal component of the center of gravity (COG). Secondly for the robot system in sagittal plane, a control scheme to realize an arbitrary COG positioning is developed via sliding mode approach.
Keywords
attitude control; legged locomotion; time-varying systems; variable structure systems; attitude control; biped walking robot; center of gravity; dynamical system; sliding mode control; Actuators; Cities and towns; Gravity; Humanoid robots; Knee; Leg; Legged locomotion; Robot sensing systems; Robust control; Sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8463-6
Type
conf
DOI
10.1109/IROS.2004.1389685
Filename
1389685
Link To Document