A Controller for Improving Lateral Stability in a Dynamically Stable Gait.
Zhenglong SunNico RoosPublished in: AIAI (2016)
Keyphrases
- limit cycle
- walking speed
- biped robot
- legged robots
- lyapunov function
- gait recognition
- control system
- control strategy
- control method
- human gait
- real time
- control scheme
- control algorithm
- closed loop
- disturbance rejection
- inverted pendulum
- optimal control
- quadruped robot
- control law
- controller design
- pid controller
- biologically inspired
- humanoid robot
- reinforcement learning