Optimization-based gait planning and control for biped robots utilizing the optimal allowable ZMP variation region.
Hongbo ZhuMinzhou LuoJingzhao LiPublished in: Ind. Robot (2018)
Keyphrases
- biped robot
- control theory
- legged robots
- quadruped robot
- inverted pendulum
- humanoid robot
- control strategy
- optimal control
- autonomous robots
- optimal design
- mobile robot
- motion planning
- joint optimization
- control law
- optimization algorithm
- biologically inspired
- robot teams
- robotic systems
- control parameters
- dynamic programming
- optimal solution
- intelligent control
- control system
- industrial robots
- optimization problems
- autonomous systems
- optimal planning
- control method
- feedback control
- control policy
- planning problems
- collision free
- multiple robots
- robot behavior
- optimal location
- gait analysis
- multi objective
- input image
- heuristic search
- optimal plans
- dynamical systems
- distributed control
- real robot
- motion control
- multi robot
- nonlinear systems