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

Abstract

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)

Topics

4 Figures and Tables

Slides referencing similar topics