A control law for human like walking biped robot SHERPA based on a control and a ballistic phase - Application on the cart-table model

2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008

Volumn , Issue , 2008, Pages 132-137

  Bachelier, Marc ^a   Chemori, Ahmed ^a   Krut, Sébastien ^a  

^a LIRMM   (France)

Author keywords

Biped robots walking; Impacts; Linearization; Optimization; Trajectory planning

Indexed keywords

BALLISTICS; INTELLIGENT ROBOTS; KINETIC ENERGY; LAGRANGE MULTIPLIERS; OPTIMIZATION; PROGRAMMABLE ROBOTS; ROBOTICS; TRAJECTORIES;

BALLISTIC PHASE; BIPED ROBOTS WALKING; BIPED WALKING ROBOTS; CONTROL APPROACHES; CONTROL LAWS; CONTROL PHASE; HUMAN LIKES; IMPACTS; LAGRANGIAN MODELS; NON-LINEAR; PARTIAL FEEDBACK LINEARIZATIONS; SIMULATION RESULTS; TRAJECTORY PLANNING; TRAJECTORY TRACKING; WALKING BIPEDS;

FEEDBACK LINEARIZATION;

EID: 63549137700     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2008.4755953     Document Type: Conference Paper

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