Robust cascade controller for nonlinearly actuated biped robots: Experimental evaluation

International Journal of Robotics Research

Volumn 23, Issue 10-11, 2004, Pages 1075-1095

  Caballero, Rony ^a   Armada, Manuel A ^b   Akinfiev, Teodor ^b  

^a UNIVERSIDAD TECNOLÓGICA DE PANAMÁ   (Panama)

^b Consejo Superior de Investigaciones Científicas   (Spain)

Author keywords

Biped robots; Nonlinear actuators; Nonlinear control; Robust control; Stability; Zero moment point

Indexed keywords

BIPED LOCOMOTION; DEGREES OF FREEDOM (MECHANICS); FEEDBACK; MATHEMATICAL MODELS; MOBILE ROBOTS; NONLINEAR CONTROL SYSTEMS;

BIPED ROBOTS; CASCADE CONTROLLER; NONLINEAR ACTUATORS; ZERO MOMENT POINT;

ROBUSTNESS (CONTROL SYSTEMS);

EID: 6344241052     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/0278364904047394     Document Type: Conference Paper

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