Robust Cascade Controller for Nonlinearly Actuated Biped Robots: Experimental Evaluation.
Rony CaballeroManuel A. ArmadaTeodor AkinfievPublished in: Int. J. Robotics Res. (2004)
Keyphrases
- experimental evaluation
- control law
- mobile robot
- closed loop
- biped walking
- control system
- control strategy
- motion control
- open loop
- control scheme
- humanoid robot
- autonomous robots
- position tracking
- feedback controller
- real time
- control parameters
- multi robot
- control algorithm
- force control
- biped robot
- strong robustness
- inverted pendulum
- robust stability
- fuzzy controller
- fuzzy logic controller
- parameter tuning
- control method
- partial occlusion
- human body
- vision system
- cooperative