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This paper presents an algorithm of a robust controller used for the stabilization of biped robot walking gait. The robot is described by a kajita's model with norm bounded uncertainties to ensure a more realistic numerical model. The proposed robust dynamic controller relies on the use of predictive control theory (MPC) and the resolution of a convex optimization problem with Linear Matrix Inequalities...
In this work, we propose a novel robust dynamic controller in order to stabilize a walking biped robot with input and output constraints. Firstly, the trajectory of the robot is generated via the Zero Moment Point method based on the resolution of a convex optimization problem with Linear Matrix Inequalities. Then, the tracking of a referential trajectory is insured by the design of an optimal dynamic...
This work aims to design an optimal dynamic controller to stabilize the walk of a biped robot even in the presence of input and output constraints. In a first time, the robot's trajectory is generated via the Zero Moment Point criterion based on the resolution of a convex optimization problem with Linear Matrix Inequalities. In a second time, the tracking of a reference trajectory is insured by the...
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