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A Control Architecture With Stabilizer For 3D Stable Dynamic Walking of SHERPA Biped Robot on Compliant Ground

Abstract : This paper deals with design and implementation of a control architecture for 3D dynamic walking with foot/ground compliant contact. This architecture includes a ZMP-based pattern generator, a computed torque controller based on the reduced order dynamics of the system, and a stabilizer to enhance the stability robustness of the control architecture. The effectiveness of the proposed control architecture is shown through numerical simulations.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00643523
Contributor : Sébastien Krut <>
Submitted on : Tuesday, November 22, 2011 - 10:47:58 AM
Last modification on : Tuesday, December 10, 2019 - 8:52:01 PM
Document(s) archivé(s) le : Thursday, February 23, 2012 - 2:21:39 AM

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Ahmed Chemori, Sébastien Le Floch, Sébastien Krut, Etienne Dombre. A Control Architecture With Stabilizer For 3D Stable Dynamic Walking of SHERPA Biped Robot on Compliant Ground. Humanoids, Dec 2010, Nashville, TN, United States. pp.480-485. ⟨lirmm-00643523⟩

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