Robust Locomotion Control of a Self-Balancing and Underactuated Bipedal Exoskeleton: Task Prioritization and Feedback Control.
Ahmed Fahmy SolimanBarkan UgurluPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- feedback control
- closed loop
- inverted pendulum
- adaptive control
- optimal control
- open loop
- long time delay
- degrees of freedom
- adaptive fuzzy
- control system
- autonomous control
- legged robots
- networked control systems
- guaranteed cost
- fractional order
- linear time invariant
- feedback controller
- control method
- dynamic programming
- control law
- control theory
- lower extremity
- position control
- mechanical systems
- force control
- robotic systems
- control strategies
- control strategy
- legged locomotion
- robot control
- control scheme