Level-ground walking for a bipedal robot with a torso via hip series elastic actuators and its gait bifurcation control.
Ka DengMingguo ZhaoWenli XuPublished in: Robotics Auton. Syst. (2016)
Keyphrases
- real robot
- legged robots
- humanoid robot
- walking speed
- motion capture
- motion control
- biped robot
- legged locomotion
- biologically inspired
- control system
- stability margin
- gait patterns
- quadruped robot
- human robot interaction
- multi modal
- control strategy
- human gait
- motor learning
- lower extremity
- inverted pendulum
- degrees of freedom
- pose estimation
- control law
- autonomous robots
- control algorithm
- closed loop
- human body
- vision system