@inproceedings{4a9d34e3e60b4daa90acae57c01a4dd3,
title = "Disturbance observer-based balance control of robotic biped walkers under slip",
abstract = "We present balance recovery control of bipedal robotic walkers under foot slip disturbance. A dynamic model is first presented to capture the bipedal locomotion under slip disturbance. Two different control approaches are presented: one is based on the feedback linearization and the second one uses the disturbance observer (DOB) method. The recovery strategies and profiles are designed through linear inverted models and inspired by human walking locomotion profiles. We present and compare the simulation results under both the feedback linearization-And DOB-based control designs.",
author = "Yoshitaka Abe and Kuo Chen and Mitja Trkov and Jingang Yi and Seiichiro Katsura",
note = "Funding Information: The work was supported in part by the US NSF under award CMMI 1334389. The work by Y. Abe was supported in part by a Grant-in-Aid to the Program for Leading Graduate School for “Science for Development of Super Mature Society” from the Ministry of Education, Culture, Sport, Science, and Technology in Japan. Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 ; Conference date: 03-07-2017 Through 07-07-2017",
year = "2017",
month = aug,
day = "21",
doi = "10.1109/AIM.2017.8014229",
language = "English (US)",
series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1489--1494",
booktitle = "2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017",
address = "United States",
}