A Control Architecture With Stabilizer For 3D Stable Dynamic Walking of SHERPA Biped Robot on Compliant Ground - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier
Conference Papers Year : 2010

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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Submitted on : Tuesday, November 22, 2011-10:47:58 AM

Last modification on : Friday, March 24, 2023-2:52:55 PM

Long-term archiving on : Thursday, February 23, 2012-2:21:39 AM

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lirmm-00643523 , version 1 (22-11-2011)

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  • HAL Id : lirmm-00643523 , version 1

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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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