Torque based stabilization control for torque sensorless humanoid robots.
Hiroto SuzukiYuya NagamatsuTakuma ShiraiShunichi NozawaYohei KakiuchiKei OkadaMasayuki InabaPublished in: Humanoids (2017)
Keyphrases
- control algorithm
- humanoid robot
- induction motor
- joint space
- control strategy
- control method
- control system
- external forces
- control scheme
- open loop
- closed loop
- motion planning
- multi modal
- motor control
- degrees of freedom
- fuzzy logic controller
- control law
- position control
- spatio temporal
- dynamic model
- mathematical model
- feedback loop
- control strategies
- human robot interaction
- biologically inspired
- motion capture