Evaluation of decentralized reactive swing-leg control on a powered robotic leg.
Alexander SchepelmannJessica AustinHartmut GeyerPublished in: IROS (2015)
Keyphrases
- walking robot
- feedback loop
- disturbance rejection
- control strategy
- biped robot
- inverted pendulum
- quadruped robot
- control method
- legged locomotion
- control loop
- control system
- open loop
- sagittal plane
- humanoid robot
- robotic systems
- closed loop
- cooperative
- walking speed
- perception action
- evaluation model
- robotic manipulator
- optimal control
- peer to peer
- autonomous robots
- pid controller
- control scheme
- inverse dynamics
- multi agent