Walking Assist Robot: A Novel Approach to Parameter Optimization of a Tracking Controller Compensating for Time Varying Friction.
Yina WangJunyou YangShuoyu WangDianchun BaiPublished in: IEEE Access (2018)
Keyphrases
- parameter optimization
- reference trajectory
- pid controller
- closed loop
- disturbance rejection
- neural network controller
- biped walking
- central pattern generator
- trajectory tracking
- biped robot
- control system
- control law
- control scheme
- humanoid robot
- real time
- control method
- differential evolution
- genetic algorithm ga
- control algorithm
- walking speed
- genetic algorithm
- legged robots
- parameter estimation
- parameter settings
- mobile robot
- limit cycle
- control strategy
- rbf neural network
- fuzzy control
- particle swarm optimization
- tracking error
- kalman filter
- genetic programming
- least squares
- fuzzy logic
- inverted pendulum
- evolutionary algorithm
- dynamic model
- neural network