A novel hierarchical control strategy for biped robot walking on uneven terrain.
Chencheng DongXuechao ChenZhangguo YuZelin HuangQingqing LiQinqin ZhouQiang HuangPublished in: Humanoids (2019)
Keyphrases
- biped robot
- control strategy
- mathematical model
- control system
- control method
- control algorithm
- control strategies
- optimal control
- control scheme
- fuzzy controller
- control law
- speed control
- force control
- biologically inspired
- predictive control
- transient response
- reinforcement learning
- input output
- sliding mode control
- sliding mode
- fuzzy logic
- neural network