About: Adaptive Nonlinear Tracking for Robotic Walking

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
rdfs:seeAlso	http://lib.physcon.ru/doc?id=9e51935aa5bc
Description	This article deals with online adaptation of control strategy for nonlinear tracking of a walking like motion of bipedal robot. Adaptation of the control rule is done according to results of online parameter estimation. Parameter estimation was realized by an extended Kalman filter due to recursive nature of the estimation problem and abundant a priori information. Proposed estimation strategy yields at least three advantages. By utilization of extensive knowledge about the system in consideration a multi-variable estimation problem was reduced to estimation problem involving one parameter only. A heavy computation burden required for recomputation of reference trajectory and feed-forward controller is removed. This approach can also be used to eliminate the modeling mismatch. A practical situation when a robot has to carry a load of an unknown weight is demonstrated. This article deals with online adaptation of control strategy for nonlinear tracking of a walking like motion of bipedal robot. Adaptation of the control rule is done according to results of online parameter estimation. Parameter estimation was realized by an extended Kalman filter due to recursive nature of the estimation problem and abundant a priori information. Proposed estimation strategy yields at least three advantages. By utilization of extensive knowledge about the system in consideration a multi-variable estimation problem was reduced to estimation problem involving one parameter only. A heavy computation burden required for recomputation of reference trajectory and feed-forward controller is removed. This approach can also be used to eliminate the modeling mismatch. A practical situation when a robot has to carry a load of an unknown weight is demonstrated. (en)
Title	Adaptive Nonlinear Tracking for Robotic Walking Adaptive Nonlinear Tracking for Robotic Walking (en)
skos:prefLabel	Adaptive Nonlinear Tracking for Robotic Walking Adaptive Nonlinear Tracking for Robotic Walking (en)
skos:notation	RIV/68407700:21230/12:00188788!RIV13-MSM-21230___
http://linked.open...avai/predkladatel	Fakulta elektrotechnická
http://linked.open...avai/riv/aktivita	S Z
http://linked.open...avai/riv/aktivity	S, Z(AV0Z10750506)
http://linked.open...iv/cisloPeriodika	1
http://linked.open...vai/riv/dodaniDat	2013
http://linked.open...aciTvurceVysledku	Čelikovský, Sergej Dolinský, Kamil
http://linked.open.../riv/druhVysledku	J - Článek v odborném periodiku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	121054
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/12:00188788
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Adaptive control; Kalman filter; walking robots (en)
http://linked.open.../riv/klicoveSlovo	walking robots Kalman filter Adaptive control
http://linked.open...odStatuVydavatele	RU - Ruská federace
http://linked.open...ontrolniKodProRIV	[DCE34C7D289B]
http://linked.open...i/riv/nazevZdroje	Cybernetics and Physics
http://linked.open...in/vavai/riv/obor	BC
http://linked.open...ichTvurcuVysledku	2 (xsd:int)
http://linked.open...cetTvurcuVysledku	2 (xsd:int)
http://linked.open...UplatneniVysledku	2012
http://linked.open...v/svazekPeriodika	1
http://linked.open...iv/tvurceVysledku	Dolinský, Kamil Čelikovský, Sergej
http://linked.open...n/vavai/riv/zamer	Pokročilé matematické metody získávání, zpracování a využití informací a znalostí ve složitých a nedeterministických systémech
issn	2223-7038
number of pages	8 (xsd:int)
http://localhost/t...ganizacniJednotka	21230
is http://linked.open...avai/riv/vysledek of	Adaptive Nonlinear Tracking for Robotic Walking

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