Robust Sliding-Mode Control for Biped Locomotion Robots with the Compensation of Phase Change
碩士 === 大同工學院 === 機械工程研究所 === 87 === First, a mathematical model describing the motion of biped locomotion robots with two support phases and two support exchanges is derived. The system uncertainties contain inaccurate modeling and impulse force when the supporting leg contacts with groun...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Others |
| Language: | en_US |
| Published: |
1999
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| Online Access: | http://ndltd.ncl.edu.tw/handle/01570406669834357115 |