Passivity-Based Compliant Walking on Torque-Controlled Hydraulic Biped Robot.
Kenta HirayamaNozomu HirosawaSang-Ho HyonPublished in: Humanoids (2018)
Keyphrases
- biped robot
- control strategy
- sliding mode
- control system
- control method
- control algorithm
- control scheme
- biologically inspired
- inverted pendulum
- control strategies
- optimal control
- fuzzy controller
- trajectory tracking
- simulation model
- mathematical model
- control law
- dynamic model
- sliding mode control
- evolutionary algorithm
- dynamic programming
- expert systems
- computational intelligence
- fault diagnosis
- artificial neural networks