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Strategies for adjusting the ZMP reference trajectory for maintaining balance in humanoid walking.
Koichi Nishiwaki
Satoshi Kagami
Published in:
ICRA (2010)
Keyphrases
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reference trajectory
humanoid robot
control law
closed loop
control theory
neural network controller
initial conditions
motion planning
control algorithm
real time
multi modal
control system
dynamical systems
feed forward
control scheme
adaptive control