Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints.
Matthew J. PowellAaron D. AmesPublished in: IROS (2016)
Keyphrases
- biped robot
- legged robots
- mechanical systems
- control strategy
- contact force
- human gait
- gait analysis
- inverted pendulum
- receding horizon
- real time
- perception action
- gait patterns
- control algorithm
- control strategies
- robotic arm
- robotic systems
- mobile robot
- control loop
- induction motor
- control method
- limit cycle
- external forces
- hand eye
- quadruped robot
- control system
- human walking
- position control
- process control
- gait recognition
- autonomous robots
- motion planning
- control scheme
- force control
- dynamic environments
- lower extremity