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Robust tracking of bio-inspired references for a biped robot using geometric algebra and sliding mode control
| Content Provider | Scilit |
|---|---|
| Author | Oviedo-Barriga, J. González-Jiménez, L. Castillo-Toledo, B. Bayro-Corrochano, E. |
| Copyright Year | 2014 |
| Description | SUMMARY Controlling a walking biped robot is a challenging problem due to the robot's complex and uncertain dynamics. In order to tackle this problem, we propose a sliding mode controller based on a dynamic model that we obtained using the conformal geometric algebra (CGA) approach. An important contribution of this paper is the development of algorithms using the CGA framework. The CGA framework permits us to use lines, points, and other geometric entities to obtain the Lagrange equations of the system. The references for the joints of the robot were obtained in a bio-inspired way following the kinematics of a walking human body. The first and second derivatives of the reference signal were obtained via an exact robust differentiator based on a high-order sliding mode. We analyzed the performance of the proposed control schemes by using bio-inspired walking patterns and simulations. |
| Related Links | http://pdfs.semanticscholar.org/b223/4399778dff0993bc1353bbf3af81035cb6ea.pdf https://core.ac.uk/download/pdf/47248037.pdf https://www.cambridge.org/core/services/aop-cambridge-core/content/view/1D5A8834320C0F04607A15A5D0BD2453/S0263574714000216a.pdf/div-class-title-robust-tracking-of-bio-inspired-references-for-a-biped-robot-using-geometric-algebra-and-sliding-mode-control-div.pdf |
| Ending Page | 224 |
| Page Count | 16 |
| Starting Page | 209 |
| ISSN | 02635747 |
| e-ISSN | 14698668 |
| DOI | 10.1017/s0263574714000216 |
| Journal | Robotica |
| Issue Number | 1 |
| Volume Number | 33 |
| Language | English |
| Publisher | Cambridge University Press (CUP) |
| Publisher Date | 2015-01-01 |
| Access Restriction | Open |
| Subject Keyword | Robotica inspired Signal Conformal Geometric Algebra |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software |
