Implementing Torque Control-Based Biped Walking of Humanoid Robots with High Reduction Gear and No Joint Torque Feedback.
Yun-Ho HanBaek-Kyu ChoPublished in: Humanoids (2023)
Keyphrases
- humanoid robot
- joint space
- biped walking
- feedback loop
- control strategy
- motor skills
- position control
- motion planning
- control system
- control algorithm
- multi modal
- control scheme
- control method
- motor control
- control strategies
- stability margin
- dynamic model
- sensory feedback
- robotic arm
- legged robots
- end effector
- visual feedback
- operating conditions
- control parameters
- pid controller
- optimal control
- external disturbances
- degrees of freedom
- input output
- mathematical model