A control study of a kneeless biped locomotion system
type: Item
instance of: scholarly article
title: A control study of a kneeless biped locomotion system
zbMATH Open document ID: 0804.70019
DOI: 10.1016/0016-0032(94)90027-2
author: Jiann-Shiou Yang
published in: Journal of the Franklin Institute
publication date: 1994-06-29T00:00:00Z
review text: This paper considers a control study on a three-degree-of-freedom biped locomotion system based on the dynamics of the walking gait and joint trajectories, a standard adaptive inverse dynamics control scheme consisting of a control law and an adaptation law is applied. The obtained results show that the tracking errors can be improved with the parameters associated with the adaptation law property chosen, and the performance is also robust despite relatively large deviations in the initial parameter estimates.
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93C15
zbMATH DE Number: 598233
zbMATH Keywords: adaptive inverse dynamics control
zbMATH Keywords: adaptation law
zbMATH Keywords: tracking errors
reviewed by: Mihail Megan
MaRDI profile type: Publication
full work available at URL: 0016-0032(94)90027-2
OpenAlex ID: W1987967572
cites work: Adaptive motion control of rigid robots: A tutorial
cites work: On adaptive inverse dynamics control of rigid robots
cites work: Adaptive computed torque control for rigid link manipulations
cites work: Adaptive manipulator control: A case study
description: scientific article; zbMATH DE number 598233