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Volumn , Issue , 2007, Pages 471-476

Stable trajectory planning, dynamics modeling and fuzzy regulated sliding mode control of a biped robot

Author keywords

Biped robots; Fuzzy sliding mode control; Stability; ZMP

Indexed keywords

ANTHROPOMORPHIC ROBOTS; CONVERGENCE OF NUMERICAL METHODS; FUZZY SYSTEMS; GAIT ANALYSIS; SLIDING MODE CONTROL;

EID: 67649696998     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2007.4813912     Document Type: Conference Paper
Times cited : (10)

References (15)
  • 2
    • 85104874228 scopus 로고    scopus 로고
    • Zero-Moment Point-Thirty five years of its life
    • M. Vukobratovic, and B. Brovac, "Zero-Moment Point-Thirty five years of its life", Int. Journal of Humanoid Robotics, Vol.1, No. 1, pp. 157-173, 2004.
    • (2004) Int. Journal of Humanoid Robotics , vol.1 , Issue.1 , pp. 157-173
    • Vukobratovic, M.1    Brovac, B.2
  • 3
    • 0032674133 scopus 로고    scopus 로고
    • Foot-Rotation indicator (FRI) point: A New Gait Planning Tool to Evaluate Postural Stability of Biped Robots
    • Detroit, pp
    • A. Goswami, "Foot-Rotation indicator (FRI) point: A New Gait Planning Tool to Evaluate Postural Stability of Biped Robots", Proc. IEEE ICRA, Detroit, pp. 47-52, 1999.
    • (1999) Proc. IEEE ICRA , pp. 47-52
    • Goswami, A.1
  • 4
    • 3042695815 scopus 로고    scopus 로고
    • Rate of Change of Angular Momentum and Balance Maintenance of Biped Robots
    • New Orleans, pp
    • A. Goswami, and V. Kallem, "Rate of Change of Angular Momentum and Balance Maintenance of Biped Robots", Proc. IEEE ICRA, New Orleans, pp. 3785-3790, 2004.
    • (2004) Proc. IEEE ICRA , pp. 3785-3790
    • Goswami, A.1    Kallem, V.2
  • 5
    • 13444252619 scopus 로고    scopus 로고
    • Compensatory Motion Control for a Biped Walking Robot
    • H. O. Lim and A. Takanishi, "Compensatory Motion Control for a Biped Walking Robot", Robotica, Vol. 23, pp. 1-11, 2005.
    • (2005) Robotica , vol.23 , pp. 1-11
    • Lim, H.O.1    Takanishi, A.2
  • 10
    • 4544274764 scopus 로고    scopus 로고
    • Development of a complete dynamic model of a planar five-link biped and sliding mode control of its locomotion during the double support phase
    • X. Mu and Q. Wuy, "Development of a complete dynamic model of a planar five-link biped and sliding mode control of its locomotion during the double support phase", Int. Journal of Control, Vol.77, No.8, pp. 789-799, 2004.
    • (2004) Int. Journal of Control , vol.77 , Issue.8 , pp. 789-799
    • Mu, X.1    Wuy, Q.2
  • 13
    • 2542583278 scopus 로고    scopus 로고
    • Sliding Mode Control with closed loop filtering architecture for a class of nonlinear system
    • J. X. Xu, Y. J. Pan and T. H. Lee, "Sliding Mode Control with closed loop filtering architecture for a class of nonlinear system", IEEE Trans. On Circuits and system II, Vol.51, Issue 4, pp. 168-173, 2004.
    • (2004) IEEE Trans. On Circuits and system II , vol.51 , Issue.4 , pp. 168-173
    • Xu, J.X.1    Pan, Y.J.2    Lee, T.H.3
  • 14
    • 0026119467 scopus 로고
    • Dynamics of Nonholonomic Mechanical Systems Using a Natural Orthogonal Complement
    • March
    • S. K. Saha, and J. Angeles, "Dynamics of Nonholonomic Mechanical Systems Using a Natural Orthogonal Complement", ASME Journal of Applied Mechanics, Vol. 58, pp. 238-244, March 1991.
    • (1991) ASME Journal of Applied Mechanics , vol.58 , pp. 238-244
    • Saha, S.K.1    Angeles, J.2


* 이 정보는 Elsevier사의 SCOPUS DB에서 KISTI가 분석하여 추출한 것입니다.