A Torso-Moving Balance Control Strategy for a Walking Biped Robot Subject to External Continuous Forces.
Yeoun-Jae KimJoon-Yong LeeJu-Jang LeePublished in: Int. J. Humanoid Robotics (2015)
Keyphrases
- pwm rectifier
- control strategy
- biped robot
- control method
- control algorithm
- control system
- robot motion
- mathematical model
- control strategies
- control scheme
- optimal control
- speed control
- control law
- fuzzy controller
- predictive control
- human body
- real time
- sliding mode control
- sliding mode
- transient response
- force control
- pi control
- inverted pendulum
- body parts
- variable structure
- closed loop
- image sequences