Intuitive Design and Gait Analysis for a Closed Loop Leg Mechanism of a Quadruped with Single Actuator.

Published in: CLAWAR (2005)

Keyphrases

closed loop
open loop
control system
disturbance rejection
control scheme
control law
feedback control
pid controller
gait analysis
controller design
reinforcement learning
control method
force control
adaptive control
real time
inverted pendulum
human identification
tracking error
trajectory tracking