Control Strategy Research for a Biped Walking Robot with Flexible Ankle Joints.
Xizhe ZangZhenkun LinYixiang LiuXinran SunJie ZhaoPublished in: IRC (2017)
Keyphrases
- control strategy
- walking robot
- operating conditions
- control system
- control scheme
- control algorithm
- control method
- optimal control
- control law
- control strategies
- mathematical model
- fuzzy controller
- biped robot
- fuzzy logic control
- degrees of freedom
- pi controller
- predictive control
- sliding mode control
- sliding mode
- speed control
- human body
- transient response
- adaptive control
- lower extremity
- variable structure
- controller design
- numerical simulations
- lotka volterra