Hybrid disturbance rejection control of dynamic bipedal robots
DOI10.1007/S11044-019-09667-3zbMATH Open1442.74130OpenAlexW2913878432WikidataQ128500105 ScholiaQ128500105MaRDI QIDQ2201610FDOQ2201610
Andres Beltran-Pulido, Andrés Tovar, John Cortés-Romero, Jaime Arcos-Legarda
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
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nonlinear disturbance observeractive disturbance rejection control (ADRC)hybrid zero dynamics (HZD)dynamical bipedal robots
Biomechanical solid mechanics (74L15) Biomechanics (92C10) Automated systems (robots, etc.) in control theory (93C85)
Cites Work
- Nonlinear control systems.
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- On convergence of the nonlinear active disturbance rejection control for MIMO systems
- Active Disturbance Rejection Control for Nonlinear Systems
- Simultaneous design of optimal gait pattern and controller for a bipedal robot
- Parameter to state stability of control Lyapunov functions for hybrid system models of robots
- A robust two-stage active disturbance rejection control for the stabilization of a riderless bicycle
- Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: application to bipedal locomotion
Cited In (5)
- On transforming hybrid nonlinear control problems with model uncertainty and input disturbance to mixed integer-linear programs
- 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
- Disturbance rejection control based on acceleration projection method for walking robots
- Hybrid Invariant Manifolds in Systems With Impulse Effects With Application to Periodic Locomotion in Bipedal Robots
- Hybrid control of biped robots to increase stability in locomotion
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