Robust Cascade Controller for Nonlinearly Actuated Biped Robots: Experimental Evaluation

In this paper we consider the postural stability problem for nonlinearly actuated quasi-static biped robots, both with respect to the joint angular positions and also with reference to the gripping effect between the foot/feet against the ground during robot locomotion. Zero moment point based mathe...

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Bibliographic Details

Main Author:	Caballero, Rony (author)
Other Authors:	Armada, Manuel (author), Akinfiev, Teodor (author)
Format:	article
Language:	English
Published:	2004
Subjects:	biped robots stability zero moment point robust control nonlinear control nonlinear actuators
Online Access:	http://ridda2.utp.ac.pa/handle/123456789/2380
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