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ZMP preview control based compliance control for a walking quadruped robot.

Jiaqi XuLigang GeJian WangQing WeiHongxu Ma
Published in: ICIA (2015)
Keyphrases
  • control theory
  • control system
  • control strategy
  • quadruped robot
  • real world
  • optimal control
  • control method
  • legged robots
  • learning rate