Standing and Stepping Control with Switching Rules for Bipedal Robots Based on Angular Momentum Around Ankle.
Mitsunori UemuraHiroaki HiraiPublished in: Int. J. Humanoid Robotics (2019)
Keyphrases
- autonomous robots
- mobile robot
- robot control
- robotic systems
- robot behavior
- humanoid robot
- control system
- lower extremity
- control rules
- learning rate
- autonomous systems
- disturbance rejection
- multi robot
- human operators
- feedback control
- inverted pendulum
- motion control
- classification rules
- cooperative
- control scheme
- control method
- control strategy
- legged robots
- rule sets
- industrial robots
- quadruped robot