Walk stability control for position-controlled servo actuated humanoid robot.
Alexis OrtizJuan Manuel IbarraPublished in: CCE (2019)
Keyphrases
- humanoid robot
- control system
- walking speed
- multi modal
- control loop
- motion planning
- adaptive control
- biologically inspired
- human robot interaction
- limit cycle
- open loop
- control law
- closed loop
- legged locomotion
- imitation learning
- joint space
- disturbance rejection
- motor learning
- control scheme
- control method
- optimal control
- end effector
- degrees of freedom
- control strategy
- motor skills
- human motion
- fully autonomous