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Proprioceptive-Based Whole-Body Disturbance Rejection Control for Dynamic Motions in Legged Robots.
Zhengguo Zhu
Guoteng Zhang
Zhongkai Sun
Teng Chen
Xuewen Rong
Anhuan Xie
Yibin Li
Published in:
IEEE Robotics Autom. Lett. (2023)
Keyphrases
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disturbance rejection
legged robots
control system
inverted pendulum
closed loop
legged locomotion
walking speed
humanoid robot
pid controller
dynamic environments
robotic systems
multi modal
process control
limit cycle
feedback control
intelligent control
vision system
mobile robot