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A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot

Ahmed Chemori 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper deals with a discret-time control approach, proposed for the control of a five-link, four-actuator planar biped walker. The approach is based on the choice of a particular class of walk configurations that enables a full state controllability avoiding the need to use Poincar'e-like argumentation in the proof of motion's reproducibility (stability of limit cycles). Simulation results attest the efficiency of the proposed control approach.
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Submitted on : Wednesday, November 4, 2009 - 3:25:06 PM
Last modification on : Tuesday, March 9, 2021 - 5:09:22 PM
Long-term archiving on: : Thursday, June 17, 2010 - 6:00:37 PM

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Ahmed Chemori. A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot. IROS: Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.3226-3231, ⟨10.1109/IROS.2009.5353965⟩. ⟨lirmm-00429803⟩

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