Humanoid adaptive locomotion control through a bioinspired CPG-based controller.
Chenpeng YaoChengju LiuLi XiaMing LiuQijun ChenPublished in: Robotica (2022)
Keyphrases
- adaptive control
- control system
- quadruped robot
- control method
- adaptive neural
- control strategy
- cmac neural network
- degrees of freedom
- control theory
- adaptive fuzzy
- feedback control
- adaptive controller
- robotic manipulator
- inverted pendulum
- legged robots
- robot control
- optimal control
- central pattern generator
- control loop
- control rules
- control architecture
- neural network
- control strategies
- disturbance rejection
- real time
- robotic systems
- tracking control
- rough terrain
- control algorithm
- pi control
- guaranteed cost
- biologically inspired
- motion control
- fuzzy control
- closed loop
- fuzzy controller
- controller design
- mobile robot
- variable structure
- operating conditions
- sliding mode control
- pi controller
- nonlinear systems
- tracking error
- control scheme
- open loop
- humanoid robot
- robot manipulators
- micro controller
- control policy
- fuzzy pid
- pid controller
- intelligent control
- control parameters
- fuzzy logic controller