Optimal Input Waveform for an Indirectly Controlled Limit Cycle Walker.

Longchuan Li Isao T. Tokuda Fumihiko Asano

Published in: IROS (2018)

Keyphrases

limit cycle
steady state
neural model
control scheme
optimal control
dynamic programming
disturbance rejection
worst case
input data
optimal solution
lower bound
feed forward
optimal design
linear combination
control loop
walking speed