High-speed limit cycle walking for biped robots using active up-and-down motion control of wobbling mass.
Yuta HanazawaTerumitsu HayashiMasaki YamakitaFumihiko AsanoPublished in: IROS (2013)
Keyphrases
- motion control
- limit cycle
- high speed
- control algorithm
- control system
- control scheme
- mobile robot
- control strategy
- humanoid robot
- walking speed
- control law
- real robot
- autonomous robots
- steady state
- disturbance rejection
- neural model
- control loop
- robot control
- physical constraints
- closed loop
- visual servoing
- autonomous navigation
- robotic soccer
- control method
- biped robot
- real time
- biped walking
- fuzzy controller
- path planning
- fuzzy logic
- motion planning
- inverted pendulum
- optimal control
- robotic systems
- real world
- control parameters
- multi robot
- feed forward
- dynamical systems
- evolutionary algorithm
- genetic algorithm