A minimalist Stair Climbing Robot (SCR) formed as a leg balancing & climbing Mobile Inverted Pendulum (MIP).
Daniel J. YangThomas BewleyPublished in: IROS (2018)
Keyphrases
- inverted pendulum
- climbing robot
- control system
- intelligent control
- motion planning
- simulation study
- fuzzy controller
- nonlinear systems
- feedback control
- control algorithm
- mobile robot
- evolutionary neural networks
- biped robot
- initial conditions
- fuzzy systems
- process control
- sagittal plane
- control law
- closed loop
- fuzzy control
- humanoid robot
- control strategy
- membership functions
- input output
- legged locomotion
- decision making
- neural network