inria-00070702, version 1
Online adaptation of reference trajectories for the control of walking systems
Pierre-Brice Wieber
a, 1Christine Chevallereau 2
N° RR-5298 (2004)
Résumé : A simple and widely used way to make a robotic system walkwithout falling is to make it track a reference trajectory in one way or another, but the stability obtained this way may be limited and even small perturbations may lead to a fall. We propose here a series of heuristics to improve the stability that can be obtained from such a tracking control law, through an online adaptation of the choice of the reference trajectory being tracked. Encouraging simulations are obtained in the end on a simple planar biped model.
- a – INRIA
- 1 : BIPOP (INRIA Rhône-Alpes)
- INRIA
- 2 : Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN)
- CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes
- Domaine : Informatique/Autre
- Mots-clés : ONLINE ADAPTATION / PARAMETRIZED TRAJECTORIES / CONSTRAINED DYNAMICS / WALKING SYSTEMS / VIABILITY
- Référence interne : RR-5298
- inria-00070702, version 1
- http://hal.inria.fr/inria-00070702
- oai:hal.inria.fr:inria-00070702
- Contributeur : Rapport De Recherche Inria
- Soumis le : Vendredi 19 Mai 2006, 21:15:21
- Dernière modification le : Jeudi 18 Septembre 2008, 15:05:10
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