This paper focuses on feasibility study of applying a state feedback gain scheduling technique to the control of a kneeless biped. Based on the linearized biped model around chosen operating points, a state feedback is used to partially decouple the body motion from the leg motions. The feedback gains found at these operating points are then interpolated to obtain gains between operating points not previously selected. Finally, a global feedback gain which varies with a scheduling parameter is used for the control of the biped. A preliminary simulation study is also given.
|Original language||English (US)|
|Number of pages||2|
|Journal||Proceedings of the IEEE Conference on Decision and Control|
|State||Published - Dec 1 1997|
|Event||Proceedings of the 1997 36th IEEE Conference on Decision and Control. Part 1 (of 5) - San Diego, CA, USA|
Duration: Dec 10 1997 → Dec 12 1997