Enhancing Bipedal Walking Robot Stability Using Foot Placement and Reversible Switching Surfaces Controller.
Zeinab JafariMahyar NaraghiPublished in: Humanoids (2023)
Keyphrases
- walking robot
- walking speed
- closed loop
- feedback controller
- lyapunov function
- disturbance rejection
- limit cycle
- humanoid robot
- asymptotic stability
- markov chain
- control law
- control system
- free form
- control scheme
- gait recognition
- real time
- feedback control
- controller design
- optimal control
- three dimensional
- surface reconstruction
- cellular automata
- robust stability
- external disturbances
- inverted pendulum
- nonlinear systems
- pid controller
- surface model
- surface orientation
- stability analysis
- steady state
- neural network
- smooth surfaces
- surface registration
- adaptive control
- tracking error
- control algorithm
- range data
- dynamical systems
- single image
- fuzzy logic
- lyapunov stability