Disturbance Observer Based HZD Control of Biped Walking and Slip Recovery
نویسندگان
چکیده
Robust walking under various ground condition is required for application of biped robots. Some researches deal with the biped robot control considering foot slip as [1] and [2]. However, few research deal with recovery control after slip. Our work presents balance recovery trajectory design and disturbance-observer (DOB) based control [3]. Balance recovery trajectory is designed through slip recovery gait of human [4]. DOB requires only nominal model, and realizes a precise and robust control system [5].
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