A control study of a kneeless biped locomotion system (Q1329233)
From MaRDI portal
!
This is the item page for this Wikibase entity, intended for internal use and editing purposes. Please use the normal view instead:
scientific article; zbMATH DE number 598233
| Language | Label | Description | Also known as |
|---|---|---|---|
| default for all languages | No label defined |
||
| English | A control study of a kneeless biped locomotion system |
scientific article; zbMATH DE number 598233 |
Statements
A control study of a kneeless biped locomotion system (English)
0 references
29 June 1994
0 references
This paper considers a control study on a three-degree-of-freedom biped locomotion system based on the dynamics of the walking gait and joint trajectories, a standard adaptive inverse dynamics control scheme consisting of a control law and an adaptation law is applied. The obtained results show that the tracking errors can be improved with the parameters associated with the adaptation law property chosen, and the performance is also robust despite relatively large deviations in the initial parameter estimates.
0 references
adaptive inverse dynamics control
0 references
adaptation law
0 references
tracking errors
0 references
0.8074349164962769
0 references
0.803443193435669
0 references
0.8000420928001404
0 references
0.7980366349220276
0 references
0.7834743857383728
0 references
