Dynamic modeling and closed-loop control design for humanoid robotic systems: Gibbs-Appell formulation and SDRE approach

DOI10.1007/s11044-023-09964-yMaRDI QIDQ6632444

R. Fazel, A. M. Shafei, Saeed Rafee Nekoo

Publication date: 4 November 2024

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

zbMATH Keywords

bipedal robottrajectory designGibbs-Appell formulationNewton's kinematic impact lawSDRE controller

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60) Dynamics of multibody systems (70E55)

This page was built for publication: Dynamic modeling and closed-loop control design for humanoid robotic systems: Gibbs-Appell formulation and SDRE approach