A trajectory tracking of legged robot using decentralized control with robustness designs


A microprocessor-based decentralized sliding-mode tracking control was applied to a legged robot with two-degree-of-freedom (DOF). Under no external load, a linear discrete-time (LDT) dynamic model for every link was individually achieved by the recursive least-squares (LS) parameter estimation. An output disturbance caused by the interaction and modeling… (More)


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