Tuning a PD Controller Based on an SVR for the Control of a Biped Robot Subject to External Forces and Slope Variation

Real-time balance control of an eight-link biped robot using a zero moment point (ZMP) dynamic model is difficult to achieve due to the processing time of the corresponding equations. To overcome this limitation an intelligent computing technique based on Support Vector Regression (SVR) is developed...

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Bibliographic Details
Main Author: Ferreira, João P. (author)
Other Authors: Crisóstomo, Manuel Marques (author), Coimbra, A. Paulo (author)
Format: article
Language:eng
Published: 2014
Subjects:
Tuning
PD
SVR
Biped Robot
Balance
ZMP
Online Access:http://hdl.handle.net/10316/102682
Country:Portugal
Oai:oai:estudogeral.sib.uc.pt:10316/102682

Internet

http://hdl.handle.net/10316/102682

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