Angular momentum based balance controller for an under-actuated planar robot.
Morteza AzadRoy FeatherstonePublished in: Auton. Robots (2016)
Keyphrases
- force control
- control law
- control scheme
- closed loop
- robot manipulators
- position tracking
- control architecture
- open loop
- visual servoing
- biped walking
- mobile robot
- motion control
- autonomous robots
- robotic manipulator
- control system
- trajectory tracking
- control strategy
- parallel manipulator
- motion planning
- human robot interaction
- control loop
- adaptive control
- robot arm
- robotic systems
- path planning
- control algorithm
- robot navigation
- wheeled mobile robot
- real time
- biped robot
- end effector
- fuzzy controller
- limit cycle
- control signals
- neural network controller
- position control
- pid controller
- control method
- liquid state machine
- sliding mode
- iterative learning control
- vision system
- central pattern generator
- contact force
- robot control
- obstacle avoidance
- learning rate
- variable structure
- sliding mode control
- dc motor
- manipulation tasks
- physical constraints
- inverse kinematics
- humanoid robot
- controller design
- real robot
- quadruped robot
- position and orientation