| dc.contributor.author | Oviedo-Barriga, J. | |
| dc.contributor.author | Carbajal-Espinosa, O. | |
| dc.contributor.author | González-Jiménez, Luis E. | |
| dc.contributor.author | Castillo-Toledo, Bernardino | |
| dc.contributor.author | Bayro-Corrochano, Eduardo | |
| dc.date.accessioned | 2015-10-16T18:15:31Z | |
| dc.date.accessioned | 2023-03-10T16:53:46Z | |
| dc.date.available | 2015-10-16T18:15:31Z | |
| dc.date.available | 2023-03-10T16:53:46Z | |
| dc.date.issued | 2013-05-10 | |
| dc.identifier.citation | Oviedo-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.isbn | 9781467356404 | |
| dc.identifier.uri | https://hdl.handle.net/20.500.12032/68988 | |
| dc.description | Controlling 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.sponsorship | CINVESTAV | es |
| dc.language.iso | eng | es |
| dc.publisher | IEEE | es |
| dc.relation.ispartofseries | IEEE International Conference on Robotics and Automation;2013 | |
| dc.rights.uri | http://quijote.biblio.iteso.mx/licencias/CC-BY-NC-2.5-MX.pdf | es |
| dc.subject | Biped Robot | es |
| dc.subject | Sliding Mode Control | es |
| dc.subject | Geometric Algebra | es |
| dc.title | Robust Tracking of Bio-Inspired References for a Biped Robot Using Geometric Algebra and Sliding Modes | es |
| dc.type | info:eu-repo/semantics/conferencePaper | es |
