Motion Control of Biped Lateral Stepping Based on Zero Moment Point Feedback for Adaptation to Slopes

Ito, Satoshi; Sasaki, Minoru

doi:10.5772/14430

Cited by 1 publication

(1 citation statement)

References 26 publications

(18 reference statements)

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“…Recent major accomplishments include control design of under actuated robotic systems [115][116][117], mobile wheeled inverted pendulums [118][119][120][121] and gait pattern generation for bipedal and humanoid robots [122][123][124][125][126][127][128][129][130][131][132]. In most cases, the non linear control problem is based on finding a suitable reference trajectory obeying a certain criteria formulated as a constrained optimization problem (see [133] and [134] and references therein).…”

Section: Future Trends and Challengesmentioning

confidence: 99%

The Inverted Pendulum Benchmark in Nonlinear Control Theory: A Survey

Boubaker

2013

International Journal of Advanced Robotic Systems

122

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For at least fifty years, the inverted pendulum has been the most popular benchmark, among others, in nonlinear control theory. The fundamental focus of this work is to enhance the wealth of this robotic benchmark and provide an overall picture of historical and current trend developments in nonlinear control theory, based on its simple structure and its rich nonlinear model. In this review, we will try to explain the high popularity of such a robotic benchmark, which is frequently used to realize experimental models, validate the efficiency of emerging control techniques and verify their implementation. We also attempt to provide details on how many standard techniques in control theory fail when tested on such a benchmark. More than 100 references in the open literature, dating back to 1960, are compiled to provide a survey of emerging ideas and challenging problems in nonlinear control theory accomplished and verified using this robotic system. Possible future trends that we can envision based on the review of this area are also presented.

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