0373459 20240111140812.620120208235959.9 8 s. cav_un_epca*03734582223-703811 (2012)28-35Rossiiskaya Akademiya Nauk Adaptive control Kalman filter walking robots cav_un_auth*0279330 Dolinský Kamil Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0101074 Čelikovský Sergej Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. textový dokument http://lib.physcon.ru/doc?id=9e51935aa5bc 545 kB CEZ:AV0Z10750506 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. 2012 BC 2 http://hdl.handle.net/11104/0206554 2012 textový dokument 545 kB cav_un_epca*0373458 Cybernetics and Physics 2223-7038 Roč. 1 č. 1 2012 28 35 Rossiiskaya Akademiya Nauk