Authors:
Muhammad Saad Saleem
and
Ibrahim A. Sultan
Affiliation:
School of Science and Engineering, University of Ballarat, Australia
Keyword(s):
Biped, subspace identification, kino-dynamic, operational space control, biped stability, crisp control.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Machine Learning in Control Applications
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
Different approaches have been briefly overviewed which have been used in stability of biped robots. Current implementations either mimic human behavior or use heuristic control. This paper suggests the use of model-free crisp control in operational space configuration for better control and understanding of kino-dynamic systems and biped robots.