Standing upright of legged robot Emu using constrained ankle-torque via hybrid control.
Tetsuya KinugasaKoichi OsukaToshiro OnoPublished in: IROS (1999)
Keyphrases
- legged robots
- control strategy
- control system
- control algorithm
- induction motor
- inverted pendulum
- optimal control
- lower extremity
- position control
- quadruped robot
- disturbance rejection
- control scheme
- contact force
- control strategies
- robotic manipulator
- neural network
- robotic systems
- dynamic model
- mobile robot
- expert systems