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A walking stability controller with disturbance rejection based on CMP criterion and Ground Reaction Force feedback.
Richard Beranek
Henry Fung
Mojtaba Ahmadi
Published in:
IROS (2011)
Keyphrases
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disturbance rejection
force feedback
limit cycle
closed loop
control system
virtual reality
walking speed
control scheme
steady state
pid controller
neural model
visual feedback
control loop
end effector
control law
robot arm
neural network
fuzzy controller
model predictive control
degrees of freedom
three dimensional