Limit cycle based walk of a powered 7DOF 3D biped with flat feet.
Yuzuru HaradaJun TakahashiDragomir N. NenchevDaisuke SatoPublished in: IROS (2010)
Keyphrases
- limit cycle
- biped robot
- control strategy
- control scheme
- steady state
- neural model
- control loop
- disturbance rejection
- control algorithm
- control law
- degrees of freedom
- pose estimation
- human body
- biologically inspired
- random walk
- inverted pendulum
- humanoid robot
- biped walking
- feed forward
- motion planning
- control parameters
- fuzzy controller
- control method
- optimal control
- walking speed
- nonlinear systems
- body parts
- path planning
- neural network