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Zero-moment point feedback balance control of leg-wheel hybrid structures by using dynamic decoupling and control allocation.

Sang-ik AnDong-Soo Kwon
Published in: ICRA (2011)
Keyphrases
  • control system
  • input output
  • control method
  • feedback loop
  • inverted pendulum
  • process control
  • control problems
  • real time
  • website
  • data structure
  • intelligent control
  • dynamic allocation
  • biped robot
  • wheeled mobile robots