Walking control around singularity using a Spherical Inverted Pendulum with an Underfloor Pivot.
Koki KametaAkinori SekiguchiYuichi TsumakiYoshikazu KanamiyaPublished in: Humanoids (2007)
Keyphrases
- inverted pendulum
- biped robot
- feedback control
- legged robots
- simulation study
- open loop
- intelligent control
- nonlinear systems
- adaptive fuzzy
- fuzzy controller
- evolutionary neural networks
- initial conditions
- control algorithm
- fuzzy systems
- sagittal plane
- legged locomotion
- process control
- mobile robot
- fuzzy control
- learning rate
- differential equations
- dynamic environments