Robust stabilization of a fully actuated 3D bipedal locomotion via nonlinear H ∞ -control under unilateral constraints - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2016

Robust stabilization of a fully actuated 3D bipedal locomotion via nonlinear H ∞ -control under unilateral constraints

Résumé

The applicability of the H∞ control technique to a fully actuated 3D biped robot is addressed. In contrast to previous studies, this investigation contributes to the study of robustness of bipedal locomotion while assuming an imperfect knowledge of the restitution rule at the collision time instants in addition to external disturbance forces applied during the single support phases. Performance issues are illustrated on a numerical study performed on the 32-DOF biped robot ROMEO, of Aldebaran Robotics.
Fichier principal
Vignette du fichier
Hinfinity3DFully.pdf (2.21 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-02397623 , version 1 (06-12-2019)

Identifiants

Citer

Oscar Eduardo Montaño Godinez, Yuri Orlov, Yannick Aoustin, Christine Chevallereau. Robust stabilization of a fully actuated 3D bipedal locomotion via nonlinear H ∞ -control under unilateral constraints. 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Nov 2016, Cancun, Mexico. pp.538-543, ⟨10.1109/HUMANOIDS.2016.7803327⟩. ⟨hal-02397623⟩
20 Consultations
49 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More