ADRC controller for weightlifter Humanoid robot.
Alexis OrtizSantos M. Orozco-SotoJuan Manuel Ibarra ZannathaPublished in: CONIELECOMP (2019)
Keyphrases
- humanoid robot
- walking speed
- biped walking
- multi modal
- biologically inspired
- motion planning
- closed loop
- real time
- control system
- human robot interaction
- control law
- human robot
- imitation learning
- control strategy
- control algorithm
- fully autonomous
- human motion
- motion capture
- real robot
- body movements
- joint space
- control scheme
- control method
- optimal control
- manipulation tasks
- rough terrain
- disturbance rejection
- pid controller