Implementation of a Robust Dynamic Walking Controller on a Miniature Bipedal Robot with Proprioceptive Actuation.
Junjie ShenJingwen ZhangYeting LiuDennis W. HongPublished in: Humanoids (2022)
Keyphrases
- 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