Biped Gait Generation and Control Based on a Unified Property of Passive Dynamic Walking.
Fumihiko AsanoZhi Wei LuoMasaki YamakitaPublished in: IEEE Trans. Robotics (2005)
Keyphrases
- biped robot
- inverted pendulum
- control strategy
- biologically inspired
- limit cycle
- control system
- disturbance rejection
- humanoid robot
- dynamic environments
- optimal control
- feedback control
- fuzzy controller
- human gait
- neural network
- control scheme
- simulation study
- changing environment
- legged robots
- steady state
- gait patterns