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Adaptive control of a biped robot walking across a horizontal plane
Author(s) -
Shishkin S. L.
Publication year - 1992
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.4480060314
Subject(s) - control theory (sociology) , biped robot , robot , control (management) , computer science , horizontal plane , robot control , adaptation (eye) , adaptive control , plane (geometry) , control engineering , simulation , mobile robot , engineering , mathematics , artificial intelligence , psychology , geometry , neuroscience
The problem of biped robot walk control is considered. Intertial robot parameters are assumed unknown and control actions are applied only twice during one step. For adaptation the recurrent aim inequalities method is used. The control algorithm is designed and theoretically justified. Computer simulation results are presented.