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Centroidal Momentum Observer: Towards Whole-Body Robust Control of Legged Robots Subject to Uncertainties.
Dilay Yesildag Oral
Duygun Erol Barkana
Barkan Ugurlu
Published in:
AMC (2021)
Keyphrases
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legged robots
inverted pendulum
legged locomotion
mobile robot
humanoid robot
quadruped robot
real time
control system
machine learning
control strategy
control method
process control
feedback control
dynamical systems
control algorithm
learning rate