Stability analysis and time-varying walking control for an under-actuated planar biped robot.
Ting WangChristine ChevallereauPublished in: Robotics Auton. Syst. (2011)
Keyphrases
- biped robot
- stability analysis
- inverted pendulum
- nonlinear systems
- open loop
- control law
- control strategy
- adaptive control
- biologically inspired
- sliding mode
- control scheme
- fuzzy controller
- fault tolerant control
- control method
- fuzzy systems
- control system
- feedback control
- fuzzy control
- control algorithm
- closed loop
- fuzzy model
- learning rate
- input output
- stability margin
- degrees of freedom
- fuzzy logic
- mobile robot
- dynamic programming
- optimal control
- real time