Central Pattern Generators with phase regulation for the control of humanoid locomotion.

Vítor Matos Cristina P. Santos

Published in: Humanoids (2012)

Keyphrases

degrees of freedom
legged locomotion
control system
pattern matching
humanoid robot
process control
feedback loops
robotic systems
motion planning
robot control
quadruped robot
real time
legged robots
single phase
pattern detection
control theory
learning phase
mobile robot
data structure
case study