Online Gain Adaptation of Whole-Body Control for Legged Robots with Unknown Disturbances.
Jaemin LeeJunhyeok AhnDonghyun KimSeungHyeon BangLuis SentisPublished in: Frontiers Robotics AI (2021)
Keyphrases
- legged robots
- inverted pendulum
- legged locomotion
- quadruped robot
- control system
- feedback control
- optimal control
- intelligent control
- fuzzy controller
- mobile robot
- simulation study
- real time
- humanoid robot
- computational intelligence
- learning rate
- fuzzy logic
- dynamic programming
- expert systems
- decision making
- genetic algorithm