Locomotion Control Architecture for the Pneumatic Biped Lucy consisting of a Trajectory Generator and Joint Trajectory Tracking Controller.
Bram VanderborghtBjörn VerrelstMichaël Van DammeRonald Van HamPieter BeylDirk LefeberPublished in: Humanoids (2006)
Keyphrases
- trajectory tracking
- control architecture
- control system
- control law
- control strategy
- closed loop
- force control
- control method
- sliding mode
- control algorithm
- control scheme
- neural network controller
- robotic systems
- central pattern generator
- fuzzy logic
- nonlinear systems
- adaptive control
- degrees of freedom
- visual servoing
- pid controller
- control theory
- pid control
- optimal control
- iterative learning control
- intelligent control
- controller design
- real time
- feedback control
- fuzzy control
- fuzzy controller
- reference trajectory
- biped robot
- robot control
- biped walking
- autonomous robots
- variable structure
- mobile robot
- reinforcement learning
- fuzzy logic controller
- control parameters