Walking control strategy for a planar under-actuated biped robot based on optimal reference trajectories and partial feedback linearization.
Ahmed ChemoriAntonio LoríaPublished in: RoMoCo (2004)
Keyphrases
- biped robot
- control strategy
- optimal control
- control scheme
- control law
- force control
- control system
- mathematical model
- control algorithm
- control method
- biologically inspired
- control strategies
- speed control
- predictive control
- feedback control
- inverted pendulum
- fuzzy controller
- sliding mode control
- variable structure
- nonlinear systems
- steady state
- dynamic programming
- evolutionary algorithm
- expert systems
- transient response
- neural network controller
- genetic algorithm
- sliding mode
- neuro fuzzy
- evolutionary computation
- artificial intelligence