Hybrid Nonlinear Disturbance Observer Design for Underactuated Bipedal Robots
- Resource Type
- Conference
- Authors
- Mohammadi, Alireza; Fakoorian, Seyed; Horn, Jonathan C.; Simon, Dan; Gregg, Robert D.
- Source
- 2018 IEEE Conference on Decision and Control (CDC) Decision and Control (CDC), 2018 IEEE Conference on. :1217-1224 Dec, 2018
- Subject
- Robotics and Control Systems
Legged locomotion
Robot kinematics
Transmission line matrix methods
Disturbance observers
Standards
- Language
- ISSN
- 2576-2370
Existence of disturbances in unknown environments is a pervasive challenge in robotic locomotion control. Disturbance observers are a class of unknown input observers that have been extensively used for disturbance rejection in numerous robotics applications. In this paper, we extend a class of widely-used nonlinear disturbance observers to unde-ractuated bipedal robots, which are controlled using hybrid zero dynamics-based control schemes. The proposed hybrid nonlinear disturbance observer provides the autonomous biped robot control system with disturbance rejection capabilities, while the underlying hybrid zero-dynamics based control law remains intact.