Abstract
This paper presents a structure of robust adaptive control for biped robots which includes balancing and posture control for regulating the center of mass position and trunk orientation of bipedal robots in a compliant way. First, the biped robot is decoupled into the dynamics of center of mass (COM) and the trunks. Then, the adaptive robust controls are constructed in the presence of parametric and functional dynamics uncertainties. The control computes a desired ground reaction force required to stabilize the posture with unknown dynamics of COM and then transforms these forces into full-body joint torques even if the external disturbances exist. The verification of the proposed control is conducted using the extensive simulations. © Springer-Verlag Berlin Heidelberg 2012.
Cite
CITATION STYLE
Li, Z., & Ge, S. S. (2012). Balancing and posture controls for biped robots with unmodelled dynamics. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7506 LNAI, pp. 56–65). https://doi.org/10.1007/978-3-642-33509-9_6
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