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 A Control Architecture With Stabilizer For 3D Stable Dynamic Walking of SHERPA Biped Robot on Compliant Ground Ahmed Chemori 74b6f68c6a48612ba485722fe4b1fb72 lirmm.fr ahmed-chemori 20304 40690-20304 https://orcid.org/0000-0001-9739-9473 https://scholar.google.fr/citations?user=EQP56YEAAAAJ&hl=en https://www.idref.fr/099234815 http://isni.org/isni/0000000356712122 https://viaf.org/viaf/188561408 Sébastien Le Floch 120395-0 Sébastien Krut 31b5ef2ef71de8f717880af2519114cf lirmm.fr krut 3383 17628-3383 https://orcid.org/0000-0003-2396-8244 https://www.idref.fr/079213324 Etienne Dombre 493024df6091e39f55571aa1f676211a lirmm.fr 920349 616164-920349 Sébastien Krut 31b5ef2ef71de8f717880af2519114cf lirmm.fr 2011-11-22 10:47:58 2025-08-13 03:09:44 2011-11-23 11:33:30 2010-12-06 2011-11-22 contributor Sébastien Krut 31b5ef2ef71de8f717880af2519114cf lirmm.fr CCSD lirmm-00643523 https://hal-lirmm.ccsd.cnrs.fr/lirmm-00643523 chemori:lirmm-00643523 <i>Humanoids</i>, Dec 2010, Nashville, TN, United States. pp.480-485 Humanoids, Dec 2010, Nashville, TN, United States. pp.480-485 HAL Authorization CNRS - Centre national de la recherche scientifique Conception et commande de robots pour la manipulation Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes Mathématiques, Informatique, Physique et Systèmes Université de Montpellier Ahmed Chemori Test DEXTER Université de Montpellier (2015-2021) International No No Yes Yes A Control Architecture With Stabilizer For 3D Stable Dynamic Walking of SHERPA Biped Robot on Compliant Ground Ahmed Chemori 74b6f68c6a48612ba485722fe4b1fb72 lirmm.fr ahmed-chemori 20304 40690-20304 https://orcid.org/0000-0001-9739-9473 https://scholar.google.fr/citations?user=EQP56YEAAAAJ&hl=en https://www.idref.fr/099234815 http://isni.org/isni/0000000356712122 https://viaf.org/viaf/188561408 Sébastien Le Floch 120395-0 Sébastien Krut 31b5ef2ef71de8f717880af2519114cf lirmm.fr krut 3383 17628-3383 https://orcid.org/0000-0003-2396-8244 https://www.idref.fr/079213324 Etienne Dombre 493024df6091e39f55571aa1f676211a lirmm.fr 920349 616164-920349 10th IEEE-RAS International Conference on Humanoid Robots Humanoids 2010-12-06 2010-12-08 Nashville, TN United States 480-485 2010-12-06 English Engineering Sciences [physics]/Automatic Conference papers Conference papers Conference papers

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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