ZMP trajectory reference for the sagittal plane control of a biped robot based on a human CoP and gait.
João Paulo FerreiraManuel Marques CrisóstomoA. Paulo CoimbraPublished in: IROS (2009)
Keyphrases
- biped robot
- inverted pendulum
- sagittal plane
- feedback control
- simulation study
- intelligent control
- nonlinear systems
- biologically inspired
- control strategy
- fuzzy controller
- initial conditions
- fuzzy systems
- control theory
- control algorithm
- mobile robot
- legged robots
- decision making
- process control
- optimal control
- control system