IEEE - Institute of Electrical and Electronics Engineers, Inc. - Nonlinear robust control of a biped robot

2010 IEEE International Symposium on Industrial Electronics (ISIE 2010)

Author(s): Aghabalaie, P. ; Hosseinzadeh, M. ; Talebi, H.A. ; Shafiee, M.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 July 2010
Conference Location: Bari, Italy, Italy
Conference Date: 4 July 2010
Page(s): 1,907 - 1,912
ISBN (CD): 978-1-4244-6391-6
ISBN (Electronic): 978-1-4244-6392-3
ISBN (Paper): 978-1-4244-6390-9
DOI: 10.1109/ISIE.2010.5637535
Regular:

This paper presents a nonlinear robust controller for a biped robot. A 5-Link dynamic model of a biped robot under holonomic constraints is obtained by using Lagrange method. The control problem... View More

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