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Uniform Global Exponential Stabilizing Passivity-Based Tracking Controller Applied to Planar Biped Robots.

Pierluigi ArpentiAlejandro DonaireFabio RuggieroVincenzo Lippiello
Published in: IROS (2022)
Keyphrases
  • real time
  • control law
  • trajectory tracking
  • visual tracking
  • dynamic model
  • neural network
  • dynamical systems
  • kalman filter
  • control strategy
  • humanoid robot
  • control parameters