Development of a complete dynamic model of a planar five-link biped and sliding mode control of its locomotion during the double support phase

International Journal of Control

Volumn 77, Issue 8, 2004, Pages 789-799

  Mu, Xiuping ^a   Wu, Qiong ^a  

^a UNIVERSITY OF MANITOBA   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); INTEGRATION; MANIPULATORS; MATHEMATICAL MODELS; MATRIX ALGEBRA; MOTION CONTROL; NONLINEAR SYSTEMS; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY; TORQUE CONTROL;

BIPED WALKING; DOUBLE SUPPORT PHASE (DSP); DYNAMIC MODELS; SINGLE SUPPORT PHASE (SSP);

SLIDING MODE CONTROL;

EID: 4544274764     PISSN: 00207179     EISSN: None     Source Type: Journal    
DOI: 10.1080/00207170410001705005     Document Type: Article

References (19)

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