Comparative simulation study of three control techniques applied to a biped robot

Raibert, M; Tzafestas, S; Tzafestas, C

dc.contributor.author	Raibert, M	en
dc.contributor.author	Tzafestas, S	en
dc.contributor.author	Tzafestas, C	en
dc.date.accessioned	2014-03-01T02:48:09Z
dc.date.available	2014-03-01T02:48:09Z
dc.date.issued	1993	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33575
dc.subject	Biped Robot	en
dc.subject	Comparative Study	en
dc.subject	Parametric Uncertainty	en
dc.subject	Robust Control	en
dc.subject	Simulation Study	en
dc.subject	Sliding Mode	en
dc.subject	Sliding Mode Control	en
dc.subject	Torque Control	en
dc.title	Comparative simulation study of three control techniques applied to a biped robot	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ICSMC.1993.384792	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ICSMC.1993.384792	en
heal.publicationDate	1993	en
heal.abstract	This paper provides a comparative study, through simulation, of the effectiveness of the local (decoupled) PD control, the computed torque control, and the sliding mode robust control applied to a 5-link biped robot model. The superiority of the sliding mode control in case of existence of large parametric uncertainty is verified. It is argued that sliding mode control appropriately smoothed	en
heal.journalName	IEEE International Conference on Systems, Man, and Cybernetics	en
dc.identifier.doi	10.1109/ICSMC.1993.384792	en