Hierarchical Optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids.
Munzir ZafarSeth HutchinsonEvangelos A. TheodorouPublished in: CoRR (2018)
Keyphrases
- inverted pendulum
- feedback control
- intelligent control
- open loop
- simulation study
- nonlinear systems
- adaptive fuzzy
- fuzzy controller
- control algorithm
- evolutionary neural networks
- fuzzy systems
- global optimization
- initial conditions
- adaptive control
- optimization algorithm
- legged robots
- mobile robot
- biped robot
- fuzzy control
- closed loop
- fuzzy logic
- fuzzy logic controller
- control system
- optimal control
- genetic algorithm
- sagittal plane
- process control
- input output
- dynamic environments
- dynamic programming
- pattern recognition