Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway.
Yukai GongRoss HartleyXingye DaAyonga HereidOmar HaribJiunn-Kai HuangJessy W. GrizzlePublished in: ACC (2019)
Keyphrases
- feedback control
- humanoid robot
- inverted pendulum
- biped robot
- closed loop
- legged robots
- reference trajectory
- walking speed
- adaptive control
- open loop
- human robot interaction
- optimal control
- autonomous robots
- motion planning
- adaptive fuzzy
- mobile robot
- multi modal
- fractional order
- walking robot
- feedback controller
- control law
- autonomous control
- control system
- control scheme
- linear time invariant
- real robot
- biped walking
- control method
- real time
- dynamic environments
- dynamic programming
- rough terrain
- networked control systems
- experimental data
- long time delay