One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-inspired Controller.
Yukai GongJessy W. GrizzlePublished in: ICRA (2021)
Keyphrases
- control system
- quadruped robot
- inverted pendulum
- closed loop
- legged robots
- open loop
- control method
- control strategy
- mobile robot
- control architecture
- autonomous robots
- robotic systems
- control theory
- disturbance rejection
- robotic manipulator
- robot control
- controller design
- control loop
- guaranteed cost
- central pattern generator
- adaptive control
- optimal control
- control algorithm
- real time
- control parameters
- pid controller
- feedback control
- rough terrain
- micro controller
- learning rate
- dc motor
- impedance control
- motion control
- fuzzy logic controller
- control policy
- fuzzy pid
- reference trajectory
- walking speed
- degrees of freedom
- proportional integral derivative
- control scheme
- model predictive control
- neural network controller
- control rules
- variable structure
- sliding mode control
- networked control systems
- pi controller
- induction motor
- control strategies