Periodic Trajectory Planning and Robust Output Zeroing Control for Underactuated Bipedal Robots with Predicted Disturbances.
Rin TakanoJunho ChangMasaki YamakitaPublished in: IROS (2019)
Keyphrases
- trajectory planning
- motion planning
- humanoid robot
- mechanical systems
- autonomous robots
- mobile robot
- multi robot
- robot manipulators
- receding horizon
- robotic systems
- obstacle avoidance
- path planning
- formation control
- damage assessment
- degrees of freedom
- control law
- multi modal
- control system
- power system
- dynamic environments
- computer vision
- control strategy
- closed loop
- parameter tuning
- robot navigation