Running Trajectory Generation Including Gait Transition between Walking Based on the Time-Varying Linear Inverted Pendulum Mode.
Satomi HanasakiYuichi TazakiHikaru NaganoYasuyoshi YokokohjiPublished in: Humanoids (2022)
Keyphrases
- biped robot
- inverted pendulum
- legged robots
- simulation study
- feedback control
- nonlinear systems
- intelligent control
- evolutionary neural networks
- control algorithm
- fuzzy controller
- mobile robot
- initial conditions
- fuzzy systems
- gait patterns
- adaptive control
- human gait
- neural network
- sagittal plane
- control strategy
- fuzzy model
- control system