Hardware-in-the-loop simulation on linear-quadratic controller for stabilization of a humanoid robot during walking.
Sherif SherifTsonyo SlavovJordan KralevPublished in: MECO (2021)
Keyphrases
- humanoid robot
- linear quadratic
- walking speed
- closed loop
- optimal control
- biped walking
- motion planning
- real robot
- multi modal
- vector valued
- dynamical systems
- real time
- control system
- control law
- neural network controller
- image processing
- gaussian model
- rough terrain
- computer vision
- feedback loop
- control algorithm
- human motion
- mathematical model
- principal component analysis
- object detection