Control of a powered planar biped without ankle actuation.
Ryuta OzawaYoshimasa KojimaPublished in: IROS (2010)
Keyphrases
- disturbance rejection
- control strategy
- control system
- control parameters
- control algorithm
- control law
- inverted pendulum
- limit cycle
- control method
- control strategies
- adaptive control
- mathematical model
- genetic algorithm
- control theory
- feedback control
- closed loop
- feedback controller
- biped robot
- biped walking
- lower extremity