NDLI: Observer-based control of a biped robot

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2015 10th International Workshop on Robot Motion and Control (RoMoCo)

9th International Workshop on Robot Motion and Control

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.

Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)

Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)

Proceedings of the Fourth International Workshop on Robot Motion and Control - RoMoCo'04 - Title

International Program Committee

Table of contents

Control of autonomous and semi-autonomous systems

Application of different imaging techniques in medical diagnostics and therapy

Visual tracking of surgical tools for laparoscopic surgery

Heterogeneous variable-length genotypes for evolutionary optimization

Embodied hypotheses: preliminary notes and case studies

Adaptive control of a dynamic system having unmodeled and unconstrained internal degree of freedom

Control systems of autonomous robots

A simple stability study for a biped walk with under and over actuated phases

Walking control strategy for a planar under-actuated biped robot based on optimal reference trajectories and partial feedback linearization

Observer-based control of a biped robot

Design, fabrication and control of a two-legged walking robot

Specification of behavioural embodied agents

Using an extended Kalman filter for relative localisation in a moving robot formation

Game theory based target following by a team of robots

Agents that live in robots: how are successful applications built?

E-MIP: a new mechanism for dynamic coalition formation in a robot team

A sensor system for the localisation of climbing robots

Stewart platform based parallel manipulator destined for the kinematic's justification of two cooperated robots

Trajectory planning of multiple manipulators

A new 3-DOF parallel manipulator

RCP and RT control of 6-DOF parallel robot

Trajectory tracking for non-holonomic vehicles: overview and case study

The input-output decoupling controller for nonholonomic mobile manipulators

Bases comparison in control space of nonholonomic systems

Hybrid control of a car-like robot

Practical stabilization of 4WD skid-steering mobile robot

Tracking controller with vector field orientation for 3-D nonholonomic manipulator

PD, PID and fuzzy logic control of three link planar arm

Feedback error learning neural network applied to a scara robot

Educational Cartesian robot based on linear drives

Implementation of a model predictive control algorithm for a 6DOF manipulator - simulation results

Stability analysis of a wind engine model with elasticity

Open control problems in underwater robotics

Reduced state motion/force tracking controller for constrained robots

Soft time-suboptimal controlling structure for mechanical systems

The fuzzy logic application in rapid prototyping of mechatronic systems

Force control of a Scara robot using neural networks

Sensor location effect on flexible robot control

Stratified motion planning concept in stair-like environment

Person following and mobile camera localization using particle filters

Steps toward derandomizing RRTs

Cartesian space motion planning for robots. An industrial implementation

Artificial potential based control for a large scale formation of mobile robots

Working time losses in production lines with hybrid automation - case study

Some conditions of implementing CE in advanced manufacturing systems

A generalized framework for distributed intelligent process automation

Remote welding robot system

Hybrid neural controller of a stepper motor for a manipulator arm

Magnetostrictive actuator control taking hysteresis into account

Friction model for low velocities: proprieties and applications

Fuzzy methods of driving genetic algorithms

Analysis of speech separation for ASR systems

Universal card for data acquisition

Real time controller for a nonholonomic mobile robot

The rationality of virtual realization of organizational functions

A substructure based motion planning method for a modular self-reconfigurable robot

Using extended G-code algorithms for networked industrial robots

Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.

Proceedings of the Second International Workshop on Robot Motion and Control. RoMoCo'01 (IEEE Cat. No.01EX535)

Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)

Observer-based control of a biped robot

Content Provider	IEEE Xplore Digital Library
Author	Lebastard, V. Aoustin, Y. Plestan, F.
Copyright Year	2004
Description	Author affiliation: Ecole Centrale de Nantes, Nantes Univ., France (Lebastard, V.; Aoustin, Y.; Plestan, F.)
Abstract	The problems under interest are the stabilization in single support of the vertical posture and the walking control of a three-link biped, via controllers and nonlinear observers. The control laws are designed, for the stabilization by using a linear model and the associated Jordan form, and for the walking a decoupling input-output linearization control. The observers are necessary to reconstruct the full state, viewed that the absolute angular value is not measured.
Sponsorship	Poznan Univ. of Technol., Inst. of Control and Syst. Eng. IEEE Robotics and Automation Soc., Poland Section Chapter IEEE Robotics and Automation Soc
Starting Page	67
Ending Page	72
File Size	360464
Page Count	6
File Format	PDF
ISBN	8371432720
DOI	10.1109/ROMOCO.2004.240641
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-06-20
Publisher Place	Poland
Access Restriction	Subscribed
Rights Holder	Poznan Univ. of Technol.
Subject Keyword	Robots Legged locomotion Leg Symmetric matrices Equations Torso Transmission line matrix methods Jacobian matrices Motion control Gravity
Content Type	Text
Resource Type	Article

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