Adaptive control for a biped locomotion system

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

In this paper, an adaptive control scheme is used to control a three-link biped locomotion. The control law is based on the well known computed torque method, and the adaptation law uses the tracking error to determine the parameter estimates for the control law. We conducted extensive computer simulations to evaluate the biped locomotion control by varying the initial parameter estimates, by adding a dead zone operation for adaptation, and by changing the system parameters. Simulation results show that the tracking errors are acceptably small and the performance is also robust despite large deviations in the initial parameter estimates.

Original languageEnglish (US)
Title of host publicationMidwest Symposium on Circuits and Systems
PublisherPubl by IEEE
Pages657-659
Number of pages3
ISBN (Print)0780317610
StatePublished - Dec 1 1993
EventProceedings of the 36th Midwest Symposium on Circuits and Systems - Detroit, MI, USA
Duration: Aug 16 1993Aug 18 1993

Publication series

NameMidwest Symposium on Circuits and Systems
Volume1

Other

OtherProceedings of the 36th Midwest Symposium on Circuits and Systems
CityDetroit, MI, USA
Period8/16/938/18/93

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