Design of active disturbance rejection controller for compass-like biped walking
This article proposes an active disturbance rejection controller design scheme to stabilize the unstable limit cycle of a compass-like biped robot. The idea of transverse coordinate transformation is applied to form the control system based on angular momentum. With the linearization approximation,...
Main Authors: | , , , , |
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Format: | Article |
Language: | English |
Published: |
SAGE Publishing
2018-05-01
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.1177/1729881418776845 |