Continuous Walking Over Various Terrains - A Walking Control Algorithm for a 12- DOF Locomotion Interface.
Jungwon YoonJeha RyuPublished in: KES (2004)
Keyphrases
- control algorithm
- limit cycle
- legged robots
- central pattern generator
- control system
- control method
- degrees of freedom
- control strategy
- inverted pendulum
- humanoid robot
- adaptive fuzzy
- control law
- motion planning
- matlab simulink
- steady state
- control scheme
- mathematical model
- single neuron
- fuzzy controller
- pid control
- single phase
- pose estimation
- disturbance rejection
- legged locomotion
- mobile robot