Development of a Complete Dynamic Model of a Planar Five-Link Biped and Sliding Mode Control of Its Locomotion During the Double Support Phase
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Publication:4651181
DOI10.1080/00207170410001705005zbMath1061.93522OpenAlexW2112894283MaRDI QIDQ4651181
Publication date: 21 February 2005
Published in: International Journal of Control (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1080/00207170410001705005
Related Items (5)
Modeling and finite-time walking control of a biped robot with feet ⋮ Practical finite-time adaptive sliding mode control for 5-link biped robot in the presence of uncertainty ⋮ Stability analysis via the concept of Lyapunov exponents: a case study in optimal controlled biped standing ⋮ Adjustable stiffness artificial tendons: conceptual design and energetics study in bipedal walking robots ⋮ On stability analysis via Lyapunov exponents calculated based on radial basis function networks
Cites Work
- Lyapunov stability control of inverted pendulums with general base point motion
- Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
- Control of a Dynamical Biped Locomotion System for Steady Walking
- A Theoretically Motivated Reduced Order Model for the Control of Dynamic Biped Locomotion
- Sliding Control Without Reaching Phase and Its Application to Bipedal Locomotion
- The Dynamics and Control of a Biped Walking Robot With Seven Degrees of Freedom
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