Adaptive inverse dynamics control for a biped locomotion system

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We perform a control study on a three-degree-of-freedom dynamical biped locomotion system. Based on the dynamics of the walking gait and desired joint trajectories, a robust adaptive control scheme consisting of a control law and an application law was chosen. The control law has the structure of the inverse dynamics servo but uses estimates of the dynamics parameters in the computation of torques which propel the biped. The adaptation law uses the tracking error to compute the parameter estimates for the control law. Simulations show that the tracking errors are acceptably small and the performance is robust despite ±25% deviations in the initial parameter estimates.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Control Applications
PublisherPubl by IEEE
Pages935-940
Number of pages6
ISBN (Print)0780309081
StatePublished - Dec 1 1993
EventProceedings of the IEEE Conference on Control Applications. Part 2 (of 2) - Vancouver, BC, Can
Duration: Sep 13 1993Sep 16 1993

Publication series

NameProceedings of the IEEE Conference on Control Applications
Volume2

Other

OtherProceedings of the IEEE Conference on Control Applications. Part 2 (of 2)
CityVancouver, BC, Can
Period9/13/939/16/93

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