Robust Tracking of Bio-Inspired References for a Biped Robot Using Geometric Algebra and Sliding Mode Control

dc.creatorOviedo-Barriga, J.
dc.creatorGonzález-Jiménez, Luis E.
dc.creatorBayro-Corrochano, Eduardo
dc.creatorCastillo-Toledo, Bernardino
dc.date2016-04-28T17:59:50Z
dc.date2016-04-28T17:59:50Z
dc.date2014-02
dc.date.accessioned2023-07-21T22:11:57Z
dc.date.available2023-07-21T22:11:57Z
dc.identifierOviedo-Barriga, J.; González-Jiménez, L.E.; Castillo-Toledo, B. and Bayro-Corrochano, E. (2014). Robust Tracking of Bio-Inspired References for a Biped Robot Using Geometric Algebra and Sliding Mode Control. Robotica, vol.33, 209-224. Cambridge University Press. http://dx.doi.org/10.1017/S0263574714000216
dc.identifier0263-5747
dc.identifierhttp://dx.doi.org/10.1017/S0263574714000216
dc.identifierhttp://hdl.handle.net/11117/3345
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/7761545
dc.descriptionControlling walking biped robots is a challenging problem due to its complex and uncertain dynamics. In order to tackle this, we propose a sliding mode controller based on a dynamic model which was obtained using the conformal geometric algebra approach (CGA). The CGA framework permits us to use lines, points, and other geometric entities, to obtain the Lagrange equations of the system. The references for the joints of the robot were bio-inspired in the kinematics of a walking human body. The first and second derivatives of the reference signal were obtained through an exact robust differentiator based on high order sliding mode. The performance of the proposed control schemes are illustrated through simulation.
dc.descriptionITESO, A.C.
dc.formatapplication/pdf
dc.languageeng
dc.publisherCambridge University Press
dc.relationRobotica;vol.33
dc.rightshttp://quijote.biblio.iteso.mx/licencias/CC-BY-NC-2.5-MX.pdf
dc.subjectBio-inspired Signal
dc.subjectBiped Tracking
dc.subjectConformal Geometric Algebra
dc.titleRobust Tracking of Bio-Inspired References for a Biped Robot Using Geometric Algebra and Sliding Mode Control
dc.typeinfo:eu-repo/semantics/article


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