A robust biped gait controller using step timing optimization with fixed footprint constraints.
Haitao WangMingguo ZhaoPublished in: ROBIO (2017)
Keyphrases
- biped robot
- control strategy
- constrained optimization
- biped walking
- walking speed
- humanoid robot
- biologically inspired
- control method
- inverted pendulum
- control law
- optimization algorithm
- optimization problems
- robust stability
- limit cycle
- lagrange multipliers
- robust optimization
- closed loop
- constraint satisfaction
- global constraints
- feedback control
- control parameters
- control scheme
- optimization criteria
- numerical simulations
- differential evolution
- face recognition