Limit Cycles in a Passive Compass Gait Biped and Passivity-Mimicking Control Laws.
Ambarish GoswamiBernard EspiauAhmed KeramanePublished in: Auton. Robots (1997)
Keyphrases
- control law
- sliding mode
- biped robot
- control strategy
- limit cycle
- control scheme
- trajectory tracking
- closed loop
- control algorithm
- control system
- biologically inspired
- variable structure
- nonlinear systems
- control theory
- adaptive control
- feedback controller
- optimal control
- visual servoing
- control method
- dynamical systems
- controller design
- gait recognition
- control parameters
- mathematical model
- real time
- flight control
- robot manipulators
- autonomous robots
- dynamic model
- stability margin
- learning algorithm
- sliding mode control
- adaptive fuzzy
- external disturbances