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Implementation of a Robust Dynamic Walking Controller on a Miniature Bipedal Robot with Proprioceptive Actuation.
Junjie Shen
Jingwen Zhang
Yeting Liu
Dennis W. Hong
Published in:
Humanoids (2022)
Keyphrases
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humanoid robot
walking speed
biped walking
limit cycle
central pattern generator
biped robot
robotic systems
autonomous robots
closed loop
control architecture
disturbance rejection
mobile robot
joint space
legged robots
control algorithm
reference trajectory
human robot interaction
motion planning
wheeled mobile robot
walking robot
motion control
control scheme
control system
vision system
real time
path planning
force control
robotic manipulator
inverted pendulum
rough terrain
robot manipulators
control law
gait recognition
lower extremity
manipulation tasks
controller design
multi robot
degrees of freedom
steady state
dynamic environments