Hybrid disturbance rejection control of dynamic bipedal robots

DOI10.1007/S11044-019-09667-3MaRDI QIDQ2201610zbMATHOpenAlexWikidataFDO

Authors Jaime Arcos-Legarda, Andres Beltran-Pulido, Andrés Tovar, John Cortés-Romero

Publication date 29 September 2020

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL http://hdl.handle.net/1805/21487

zbMATH Keywords

nonlinear disturbance observeractive disturbance rejection control (ADRC)hybrid zero dynamics (HZD)dynamical bipedal robots

Mathematics Subject Classification ID

Biomechanical solid mechanics (74L15) Biomechanics (92C10) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• scientific article; zbMATH DE number 53595 (Why is no real title available?)
• A robust two-stage active disturbance rejection control for the stabilization of a riderless bicycle
• Active Disturbance Rejection Control for Nonlinear Systems
• Nonlinear control systems.
• On convergence of the nonlinear active disturbance rejection control for MIMO systems
• Parameter to state stability of control Lyapunov functions for hybrid system models of robots
• Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: application to bipedal locomotion
• Simultaneous design of optimal gait pattern and controller for a bipedal robot

Cited in

(8)

• Hybrid control of biped robots to increase stability in locomotion
• Disturbance rejection control based on acceleration projection method for walking robots
• Simulations of the dynamic behavior of a bipedal robot with trunk and arms subjected to 3D external disturbances in a vertical posture, during walking and during object handling
• Composite active disturbance rejection robust control for a prototype of an active damping artificial ankle prosthesis
• On transforming hybrid nonlinear control problems with model uncertainty and input disturbance to mixed integer-linear programs
• Footstep adjustment for biped push recovery on slippery surfaces
• Dynamical analysis and performance evaluation of a biped robot under multi-source random disturbances
• Hybrid Invariant Manifolds in Systems With Impulse Effects With Application to Periodic Locomotion in Bipedal Robots

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