Model-based velocity control for Limit Cycle Walking.
Tuomas HaarnojaJose-Luis Peralta-CabezasAarne HalmePublished in: IROS (2011)
Keyphrases
- limit cycle
- disturbance rejection
- control loop
- control scheme
- control system
- steady state
- neural model
- control strategy
- walking speed
- control method
- optimal control
- control algorithm
- feed forward
- closed loop
- neural network
- walking robot
- predictive control
- fuzzy controller
- dynamic model
- markov chain
- fuzzy logic
- search space
- genetic algorithm