Experimental Validation of High-Efficiency Hydraulic Direct-Drive System for a Biped Humanoid Robot - Comparison with Valve-Based Control System.
Juri ShimizuTakuya OtaniH. MizukamiKenji HashimotoAtsuo TakanishiPublished in: ICRA (2019)
Keyphrases
- humanoid robot
- high efficiency
- control system
- motion planning
- biologically inspired
- multi modal
- high accuracy
- direct drive
- electro hydraulic
- working principle
- control strategy
- control scheme
- human robot interaction
- closed loop
- control algorithm
- control law
- body movements
- control method
- biped walking
- robotic manipulator
- human motion
- fuzzy control
- pid controller
- intelligent control
- imitation learning
- control strategies
- joint space
- fully autonomous
- real robot
- walking speed
- motion capture
- fuzzy controller
- real time