Disturbance Observer Based Linear Feedback Controller for Compliant Motion of Humanoid Robot.
Mingon KimJung Hoon KimSanghyun KimJaehoon SimJaeheung ParkPublished in: ICRA (2018)
Keyphrases
- humanoid robot
- motion planning
- feedback controller
- control law
- multi modal
- closed loop
- feedback control
- human motion
- control scheme
- motion capture
- body movements
- joint space
- fuzzy systems
- control theory
- fuzzy sets
- machine learning
- control algorithm
- optimal control
- neural network
- computer simulation
- linear model
- sufficient conditions
- networked control systems