Disturbance rejection control based on acceleration projection method for walking robots

DOI10.1631/JZUS.A0820242MaRDI QIDQ1045514zbMATH OpenOpenAlexFDO

Authors Xu-Yang Wang, Zhao-Hong Xu, Tian-Sheng Lü

Publication date 15 December 2009

Published in Journal of Zhejiang University. Science A (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1631/jzus.a0820242

zbMATH Keywords

disturbance rejectionorthogonal projectioninverse dynamicswalking robotZMP (zero moment point)-plane

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

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(6)

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• Design and analysis of active disturbance rejection control system for under actuation walking robot
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• ZMP-based fall prevention assist for lower-limb exoskeletons during dynamic walking
• Hybrid disturbance rejection control of dynamic bipedal robots

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