TY - GEN

T1 - Comparative Study of Three Nonlinear Discrete-Time Observer Designs for the Control of a Bipedal Robot

AU - Albert, A.

AU - Lilge, T.

PY - 2001

Y1 - 2001

N2 - This paper focuses on adaptive, non-linear control for a bipedal robot. The envisaged control structure consists of discrete-time Computed Torque Controllers and Extended Kalman Filters for parameter adaptation. Since the relative degree of the considered joint system models are equal to the system order, the Computed Torque Control requires future values of the output. For this task different non-linear discrete-time observers are utilized which lead to better performance and more robustness than estimations of future outputs by the pure system model, particularly when only poor system models are known.

AB - This paper focuses on adaptive, non-linear control for a bipedal robot. The envisaged control structure consists of discrete-time Computed Torque Controllers and Extended Kalman Filters for parameter adaptation. Since the relative degree of the considered joint system models are equal to the system order, the Computed Torque Control requires future values of the output. For this task different non-linear discrete-time observers are utilized which lead to better performance and more robustness than estimations of future outputs by the pure system model, particularly when only poor system models are known.

M3 - Conference contribution

SP - 851

EP - 858

BT - 4th International Conference on Climbing and Walking Robots, CLAWAR2001

ER -