Stability analysis of a walk of a biped with control of the ZMP.
Dalila DjoudiChristine ChevallereauPublished in: IROS (2005)
Keyphrases
- stability analysis
- control theory
- nonlinear systems
- control law
- sliding mode
- inverted pendulum
- stability margin
- biped walking
- control strategy
- fault tolerant control
- adaptive control
- gravitational search algorithm
- control system
- control parameters
- control scheme
- humanoid robot
- controller design
- optimal control
- control method
- control algorithm
- closed loop
- dynamical systems
- evolutionary algorithm
- biped robot