Flexible locomotion control of a self-contained biped leg-wheeled system.
Osamu MatsumotoShuuji KajitaShuuji KomoriyaPublished in: IROS (2002)
Keyphrases
- inverted pendulum
- biped robot
- legged robots
- control strategy
- feedback control
- intelligent control
- open loop
- mobile robot
- simulation study
- quadruped robot
- control algorithm
- nonlinear systems
- legged locomotion
- control method
- humanoid robot
- fuzzy systems
- fuzzy controller
- control system
- initial conditions
- neural network
- adaptive control
- rough terrain
- control parameters
- robot control
- control strategies
- fuzzy control
- bio inspired
- biologically inspired
- optimal control
- degrees of freedom
- stability margin
- closed loop
- evolutionary algorithm