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A sliding controller for bipedal balancing using integrated movement of contact and non-contact limbs.
Andreas G. Hofmann
Steven Massaquoi
Marko B. Popovic
Hugh M. Herr
Published in:
IROS (2004)
Keyphrases
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closed loop
neural network
human body
control algorithm
control system
real time
computer vision
sliding window
control method
control scheme
feedback control
controller design
adaptive control
inverted pendulum
disturbance rejection
walking speed