2DOF motion stabilization of biped robot by gaze control strategy.
Shota TakizawaShun UshidaTakayuki OkataniKoichiro DeguchiPublished in: IROS (2005)
Keyphrases
- biped robot
- control strategy
- robot motion
- control system
- control strategies
- control algorithm
- control law
- motion planning
- end effector
- mathematical model
- control method
- speed control
- control scheme
- optimal control
- biologically inspired
- fuzzy controller
- control architecture
- image sequences
- path planning
- humanoid robot
- human motion
- degrees of freedom
- force control
- closed loop
- predictive control
- joint angles
- variable structure
- pose estimation
- real time
- pi control