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

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dc.contributor.authorOviedo-Barriga, J.
dc.contributor.authorCarbajal-Espinosa, O.
dc.contributor.authorGonzález-Jiménez, Luis E.
dc.contributor.authorCastillo-Toledo, Bernardino
dc.contributor.authorBayro-Corrochano, Eduardo
dc.date.accessioned2015-10-16T18:15:31Z
dc.date.available2015-10-16T18:15:31Z
dc.date.issued2013-05-10
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 modes. The performance of the proposed control scheme is illustrated through simulation.es
dc.description.sponsorshipCINVESTAVes
dc.identifier.citationOviedo-Barriga, J.; Carbajal-Espinosa, O.; González-Jiménez, L.E.; Castillo-Toledo, B.; Bayro-Corrochano, E. (2013). Robust Tracking of Bio-Inspired References for a Biped Robot Using Geometric Algebra and Sliding Modes. IEEE International Conference on Robotics and Automation (ICRA)es
dc.identifier.isbn9781467356404
dc.identifier.urihttp://hdl.handle.net/11117/2582
dc.language.isoenges
dc.publisherIEEEes
dc.relation.ispartofseriesIEEE International Conference on Robotics and Automation;2013
dc.rights.urihttp://quijote.biblio.iteso.mx/licencias/CC-BY-NC-2.5-MX.pdfes
dc.subjectBiped Robotes
dc.subjectSliding Mode Controles
dc.subjectGeometric Algebraes
dc.titleRobust Tracking of Bio-Inspired References for a Biped Robot Using Geometric Algebra and Sliding Modeses
dc.typeinfo:eu-repo/semantics/conferencePaperes
rei.peerreviewedYeses
rei.revisorInternational Conference on Robotics and Automation

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