Exploiting ankle torque for orbital stabilization in biped robots; a hybrid zero dynamics approach.
Hamid SadeghianChristian OttGordon ChengPublished in: Humanoids (2016)
Keyphrases
- humanoid robot
- dynamic model
- control strategy
- control algorithm
- control law
- mobile robot
- physical constraints
- human robot interaction
- dynamical systems
- control scheme
- position control
- robotic agents
- joint space
- cooperative
- multi robot
- external disturbances
- control parameters
- biologically inspired
- limit cycle
- control system
- external forces