Torso and swing-leg control for a planar biped walker with hip series elastic actuators.
Naoto MaezawaTerumasa NarukawaHiroshi YamamotoPublished in: ASCC (2019)
Keyphrases
- biped robot
- control strategy
- control system
- inverted pendulum
- mathematical model
- feedback loop
- control method
- control parameters
- humanoid robot
- walking robot
- disturbance rejection
- open loop
- intelligent control
- nonlinear systems
- fuzzy controller
- biologically inspired
- feedback control
- control algorithm
- limit cycle
- robotic systems
- closed loop
- shape memory alloy
- process control
- fuzzy logic controller
- control theory
- control law
- simulation study