Modeling and finite-time walking control of a biped robot with feet

DOI10.1155/2015/963496MaRDI QIDQ1667076zbMATH OpenOpenAlexWikidataFDO

Authors Juan E. Machado, Héctor M. Becerra, Mónica Moreno Rocha

Publication date 27 August 2018

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 3.0 Unported

Full work available at URL https://doi.org/10.1155/2015/963496

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Continuous finite-time stabilization of the translational and rotational double integrators
• Development of a Complete Dynamic Model of a Planar Five-Link Biped and Sliding Mode Control of Its Locomotion During the Double Support Phase
• Finite Time Stability and Robust Control Synthesis of Uncertain Switched Systems
• Finite Time Stabilization of a Perturbed Double Integrator—Part I: Continuous Sliding Mode-Based Output Feedback Synthesis
• Nonlinear systems.
• Research on walking gait of biped robot based on a modified CPG model
• Stability theory for hybrid dynamical systems
• The role of impact in the stability of bipedal locomotion
• Variable structure model reference adaptive control systems

Cited in

(5)

• Practical finite-time adaptive sliding mode control for 5-link biped robot in the presence of uncertainty
• Modelling and control of a walking four link robot.
• Modeling, control and analysis of a curved feet compliant biped with HZD approach
• Development of a Complete Dynamic Model of a Planar Five-Link Biped and Sliding Mode Control of Its Locomotion During the Double Support Phase
• Hybrid disturbance rejection control of dynamic bipedal robots

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