Bifurcation gait suppression of a bipedal walking robot with a torso based on model predictive control.
Ka DengMingguo ZhaoWenli XuPublished in: Robotics Auton. Syst. (2017)
Keyphrases
- model predictive control
- walking robot
- walking speed
- motion capture
- control system
- predictive control
- humanoid robot
- disturbance rejection
- gait recognition
- upper body
- closed loop
- human body
- limit cycle
- control scheme
- human gait
- biped robot
- gait analysis
- human motion
- body parts
- fuzzy logic
- neural network
- control law
- legged robots
- multiple models
- real time
- autonomous robots
- data mining
- control strategy