Realization by Biped Leg-wheeled Robot of Biped Walking and Wheel-driven Locomotion.
Kenji HashimotoTakuya HosobataYusuke SugaharaYutaka MikuriyaHiroyuki SunazukaMasamiki KawaseHun-ok LimAtsuo TakanishiPublished in: ICRA (2005)
Keyphrases
- biped walking
- stability margin
- legged robots
- inverted pendulum
- legged locomotion
- humanoid robot
- quadruped robot
- mobile robot
- simulation study
- feedback control
- intelligent control
- biped robot
- nonlinear systems
- adaptive fuzzy
- rough terrain
- control algorithm
- fuzzy systems
- fuzzy controller
- initial conditions
- interval type fuzzy
- motion planning
- learning rate
- sliding mode control
- robot control
- optimal control
- human motion