Lyapunov Stability Margins for humanoid robot balancing.
Emmanouil Spyrakos-PapastavridisNicolas PerrinNikos G. TsagarakisJian S. DaiDarwin G. CaldwellPublished in: IROS (2014)
Keyphrases
- humanoid robot
- lyapunov stability
- control law
- motion planning
- lyapunov function
- nonlinear systems
- multi modal
- biologically inspired
- optimal control
- tracking error
- control algorithm
- sliding mode
- adaptive learning
- stability analysis
- sufficient conditions
- actor critic
- adaptive control
- dynamical systems
- control method
- image sequences