Paper Details: Downloads: 1082
Serial Number: P1111338292
Title: Hybrid Dynamic System Control of Sequential Motion in Biped Robots
Authors: J. S. Piasecki and M. A. Zohdy
Abstract: This paper presents a new hybrid dynamic approach to describe and control sequential biped robot motions including sitting and standing. Transitions between these motions are expressed as a hybrid dynamic system that express each pose of the biped. Control of the biped in each state is performed using nonlinear backstepping with integral action. Stability and robustness of the ensuing biped robot control are addressed. Simulations are used to further demonstrate the effectiveness of control.
Keywords: Nonlinear Control, Integrator Backstepping, Hybrid Dynamic Systems, Biped Robot
Journal/Conference: International Journal of Automatic Control and System Engineering
Volume: 14
Issue: 1
Submission Date: 9/15/2013 12:00:00 AM
Review Date: 1/17/2014 12:00:00 AM
Publishing Date: 3/27/2014 12:00:00 AM
Article Downloads: 1082
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