Implementing Full-body Torque Control in Humanoid Robot with High Gear Ratio Using Pulse Width Modulation Voltage.
Kang Kyu LeeOkkee SimHyobin JeongJaesung OhHyoin BaeSeungwoo HongJun-Ho OhPublished in: IROS (2018)
Keyphrases
- pulse width modulation
- induction motor
- humanoid robot
- single phase
- speed control
- joint space
- control scheme
- closed loop
- multi modal
- motion planning
- sensory feedback
- control system
- output voltage
- body movements
- control algorithm
- control method
- fuzzy logic controller
- dynamic model
- simulation model
- control strategy
- neural network controller
- fuzzy controller
- pid controller
- experimental data
- power system
- computer vision
- loading conditions
- fuzzy logic