Energy-Efficient Gait Planning and Control for Biped Robots Utilizing Vertical Body Motion and Allowable ZMP Region.
Hyeok-Ki ShinByung Kook KimPublished in: IEEE Trans. Ind. Electron. (2015)
Keyphrases
- energy efficient
- humanoid robot
- control theory
- quadruped robot
- biped robot
- motion planning
- legged robots
- wireless sensor networks
- motion control
- inverted pendulum
- energy consumption
- motion capture
- control strategy
- control law
- sensor networks
- rough terrain
- human gait
- human body
- mobile robot
- energy efficiency
- control system
- robot teams
- collision free
- upper body
- multi robot
- base station
- data dissemination
- autonomous robots
- joint angles
- robotic systems
- data sets
- multi core architecture
- human motion
- routing protocol
- image sequences
- optimal control
- gait analysis
- degrees of freedom
- path planning
- control parameters
- data transmission
- fuzzy controller
- routing algorithm
- mobile phone
- low cost