Passivity-Based Control with a Generalized Energy Storage Function for Robust Walking of Biped Robots.
Mark R. YeatmanGe LvRobert D. GreggPublished in: ACC (2018)
Keyphrases
- humanoid robot
- biped robot
- control strategy
- biped walking
- legged robots
- inverted pendulum
- legged locomotion
- control parameters
- autonomous systems
- mobile robot
- control theory
- sliding mode
- robot control
- autonomous robots
- impedance control
- robotic systems
- motion control
- formation control
- biologically inspired
- human operators
- human robot interaction
- control law
- motion planning
- manipulation tasks
- industrial robots
- robot teams
- closed loop