Abstract:
For the purpose of attitude control of a biped locomotion robot, in this paper, we firstly present the modeling of dynamical system explicitly represented in terms of hor...Show MoreMetadata
Abstract:
For the purpose of attitude control of a biped locomotion robot, in this paper, we firstly present the modeling of dynamical system explicitly represented in terms of horizontal component of the center of gravity (COG). Secondly for the robot system in sagittal plane, a control scheme to realize an arbitrary COG positioning is developed via sliding mode approach.
Published in: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
Date of Conference: 28 September 2004 - 02 October 2004
Date Added to IEEE Xplore: 14 February 2005
Print ISBN:0-7803-8463-6
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