Step-by-step sliding mode observer for control of a walking biped robot by using only actuated variables measurement

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2005, Pages 559-564

  Lebastard, V ^a   Aoustin, Y ^a   Plestan, F ^a  

^a ECOLE CENTRALE DE NANTES   (France)

Author keywords

Cyclic gait; Finite time convergence; Second order sliding mode observer; Three link biped robot

Indexed keywords

BIPED LOCOMOTION; SLIDING MODE CONTROL;

ABSOLUTE ORIENTATION; BIPED ROBOT; CYCLIC GAITS; FINITE-TIME CONVERGENCE; SECOND ORDER SLIDING MODES; SECOND-ORDER SLIDING-MODE OBSERVER; SLIDING MODE OBSERVERS; STATE VARIABLES;

INTELLIGENT ROBOTS;

EID: 79957984538     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2005.1545448     Document Type: Conference Paper

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