Disturbance rejection control based on acceleration projection method for walking robots

DOI10.1631/JZUS.A0820242zbMath1375.70025OpenAlexW2398554161MaRDI QIDQ1045514

Xu-Yang Wang, Tian-Sheng Lü, Zhao-Hong Xu

Publication date: 15 December 2009

Published in: Journal of Zhejiang University. Science A (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1631/jzus.a0820242

zbMATH Keywords

disturbance rejectionorthogonal projectioninverse dynamicswalking robotZMP (zero moment point)-plane

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

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