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A Model-Based Hierarchical Controller for Legged Systems Subject to External Disturbances.
Guiyang Xin
Hsiu-Chin Lin
Joshua Smith
Oguzhan Cebe
Michael N. Mistry
Published in:
ICRA (2018)
Keyphrases
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external disturbances
control scheme
control system
closed loop
control law
evolutionary algorithm
mathematical model
initial conditions
controller design
inverted pendulum