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Volumn 3, Issue , 2004, Pages 2609-2614

Dynamic modeling and sliding mode control of a five-link biped during the double support phase

Author keywords

[No Author keywords available]

Indexed keywords

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

EID: 8744277860     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ACC.2004.182500     Document Type: Conference Paper
Times cited : (15)

References (18)
  • 4
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    • The dynamics and control of a biped walking robot with seven degrees of freedom
    • C-L. Shih, "The Dynamics and Control of a Biped Walking Robot with Seven Degrees of Freedom", Journal of Dynamic Systems, Measurement, and Control 118, 683-690 (1996)
    • (1996) Journal of Dynamic Systems, Measurement, and Control , vol.118 , pp. 683-690
    • Shih, C.-L.1
  • 5
    • 0033904990 scopus 로고    scopus 로고
    • Dynamic biped robot locomotion on less Structured Surfaces
    • M-Y. Cheng and C-S. Lin, "Dynamic Biped Robot Locomotion on Less Structured Surfaces", Robotica 18, 163-170 (2000)
    • (2000) Robotica , vol.18 , pp. 163-170
    • Cheng, M.-Y.1    Lin, C.-S.2
  • 6
    • 0018503399 scopus 로고
    • Modeling and control of constrained dynamic systems with application to biped locomotion in the frontal plane
    • H. Hemami and B.F. Wyman, "Modeling and Control of Constrained Dynamic Systems with Application to Biped Locomotion in the Frontal Plane", IEEE Transactions on Automatic Control 24, 526-535 (1979)
    • (1979) IEEE Transactions on Automatic Control , vol.24 , pp. 526-535
    • Hemami, H.1    Wyman, B.F.2
  • 7
    • 0026858057 scopus 로고
    • Force/motion control of constrained robots using sliding mode
    • C. Su, T. Leung and Q. Zhou, "Force/Motion Control of Constrained Robots Using Sliding Mode", IEEE Transactions Automatic Control, 37, 668-672 (1992)
    • (1992) IEEE Transactions Automatic Control , vol.37 , pp. 668-672
    • Su, C.1    Leung, T.2    Zhou, Q.3
  • 8
    • 0029512298 scopus 로고
    • A robust adaptive approach for force/motion control of manipulators under holonomic constraints
    • F. Mnif, M. Saad and E. Boukas, "A Robust Adaptive Approach for Force/Motion Control of Manipulators under Holonomic Constraints", IEEE CCECE/CCGEI, 334-337 (1995)
    • (1995) IEEE CCECE/CCGEI , pp. 334-337
    • Mnif, F.1    Saad, M.2    Boukas, E.3
  • 9
    • 0030711888 scopus 로고    scopus 로고
    • Control of a biped walking robot during the double support phase
    • K. Mitobe, N. Mori, Y. Nasu and N. Adachi, "Control of a Biped Walking Robot during the Double Support Phase", Autonomous Robots 4, 287-296 (1997)
    • (1997) Autonomous Robots , vol.4 , pp. 287-296
    • Mitobe, K.1    Mori, N.2    Nasu, Y.3    Adachi, N.4
  • 12
    • 0142180029 scopus 로고    scopus 로고
    • Synthesis of a complete sagittal gait cycle for a five-link biped
    • X. Mu and Q. Wu, "Synthesis of a Complete Sagittal Gait Cycle for a Five-Link Biped", Robotica 21, 581-587 (2003)
    • (2003) Robotica , vol.21 , pp. 581-587
    • Mu, X.1    Wu, Q.2
  • 13
    • 0027606695 scopus 로고
    • Dynamics of bipedal gait: Part I - Objective functions and the contact event of a planar five-link biped
    • Y. Hurmuzlu, "Dynamics of Bipedal Gait: Part I - Objective Functions and the Contact Event of a Planar Five-Link Biped", Journal of Applied Mechanics 60, 331-336 (1993)
    • (1993) Journal of Applied Mechanics , vol.60 , pp. 331-336
    • Hurmuzlu, Y.1
  • 14
    • 0017504418 scopus 로고
    • Postural and gait stability of a planar five link biped by simulation
    • H. Hemami and R.L. Farnsworth, "Postural and Gait Stability of a Planar Five Link biped by Simulation", IEEE Transactions on Automatic Control, 452-458 (1977)
    • (1977) IEEE Transactions on Automatic Control , pp. 452-458
    • Hemami, H.1    Farnsworth, R.L.2
  • 16
    • 0020799551 scopus 로고
    • Tracking control of nonlinear systems using sliding surfaces, with application to robot manipulators
    • J. Slotine and S. Sastry, "Tracking Control of Nonlinear Systems Using Sliding Surfaces, with Application to Robot Manipulators", International Journal of Control pp. 465-492, (1983)
    • (1983) International Journal of Control , pp. 465-492
    • Slotine, J.1    Sastry, S.2


* 이 정보는 Elsevier사의 SCOPUS DB에서 KISTI가 분석하여 추출한 것입니다.