A control architecture with stabilizer for 3D stable dynamic walking of SHERPA biped robot on compliant ground.
Ahmed ChemoriSébastien Le FlochSébastien KrutEtienne DombrePublished in: Humanoids (2010)
Keyphrases
- biped robot
- control architecture
- control strategy
- control system
- control method
- robotic systems
- control scheme
- mathematical model
- optimal control
- fuzzy controller
- autonomous agents
- dynamic environments
- real time
- control algorithm
- force control
- gaze control
- neural network
- evolutionary algorithm
- knowledge base
- computer vision