Biped Locomotion Control through a Biomimetic CPG-based Controller.
Cristina P. SantosNuno AlvesJuan C. MorenoPublished in: J. Intell. Robotic Syst. (2017)
Keyphrases
- control strategy
- inverted pendulum
- biped robot
- control system
- legged robots
- quadruped robot
- control law
- control parameters
- control method
- biped walking
- control theory
- biologically inspired
- closed loop
- optimal control
- control rules
- control strategies
- controller design
- stability margin
- tracking control
- control architecture
- central pattern generator
- open loop
- robotic systems
- control scheme
- operating conditions
- adaptive control
- robot control
- feedback controller
- mobile robot
- intelligent control
- control algorithm
- nonlinear systems
- pi controller
- guaranteed cost
- fuzzy controller
- feedback control
- control loop
- disturbance rejection
- adaptive fuzzy
- control policy
- simulation study
- sliding mode
- real time
- rough terrain
- variable structure
- fuzzy control
- external disturbances
- visual servoing
- neural network controller
- motion control
- pid controller
- fuzzy systems
- fuzzy logic
- neural network