Stability and Gait Switching of Underactuated Biped Walkers.
Martin FevreHai LinJames P. SchmiedelerPublished in: IROS (2019)
Keyphrases
- limit cycle
- biped robot
- control scheme
- walking speed
- control strategy
- steady state
- humanoid robot
- neural model
- feedback controller
- control law
- biologically inspired
- motion planning
- legged robots
- control algorithm
- closed loop
- simulation study
- controller design
- inverted pendulum
- mechanical systems
- multi modal
- biped walking
- human identification
- feedback control
- motion capture
- control parameters
- pid controller
- human body