A ZMP Feedback Control for Biped Balance its Application to In-Place Lateral Stepping Motion.
Satoshi ItoShinya AmanoMinoru SasakiPasan KulvanitPublished in: J. Comput. (2008)
Keyphrases
- feedback control
- feedback controller
- inverted pendulum
- closed loop
- control law
- control theory
- humanoid robot
- open loop
- adaptive control
- optimal control
- adaptive fuzzy
- motion analysis
- motion estimation
- fractional order
- image sequences
- motion planning
- space time
- control strategy
- linear time invariant
- control system
- autonomous control
- optical flow
- motion model
- nonlinear systems
- least squares
- biped walking
- long time delay
- networked control systems
- control parameters
- dynamic model
- sufficient conditions
- multi modal
- moving objects