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...

Descripción completa

Detalles Bibliográficos

Autor principal:	Caballero, Rony (author)
Otros Autores:	Armada, Manuel (author), Akinfiev, Teodor (author)
Formato:	article
Lenguaje:	inglés
Publicado:	2004
Materias:	biped robots stability zero moment point robust control nonlinear control nonlinear actuators
Acceso en línea:	http://ridda2.utp.ac.pa/handle/123456789/2380
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!