Simulating 2D Gaits with a Phase-Indexed Tracking Controller.
Yeuhi AbeJovan PopovicPublished in: IEEE Computer Graphics and Applications (2011)
Keyphrases
- reference trajectory
- closed loop
- neural network controller
- walking speed
- real time
- control law
- initial conditions
- control algorithm
- control system
- quadruped robot
- dynamic response
- tracking error
- feedback control
- moving target
- control method
- particle filter
- kalman filter
- control scheme
- legged robots
- appearance model
- human gait
- open loop
- inverted pendulum
- visual tracking
- gait recognition
- operating conditions
- particle filtering
- numerical simulations
- motion analysis
- mechanical systems
- control strategy
- motion model
- feedback controller
- object tracking
- fuzzy logic