Simplified control of upright walking by exploring asymmetric gaits induced by leg damping.
Christophe MaufroyHorst Moritz MausAndré SeyfarthPublished in: ROBIO (2011)
Keyphrases
- walking robot
- control strategy
- biped robot
- legged robots
- quadruped robot
- open loop
- inverted pendulum
- sagittal plane
- humanoid robot
- legged locomotion
- disturbance rejection
- closed loop
- reference trajectory
- walking speed
- mechanical systems
- control system
- control method
- gait patterns
- control algorithm
- control scheme
- feedback control
- mathematical model
- initial conditions
- motion planning
- nonlinear systems
- mobile robot
- three dimensional
- control strategies
- optimal control
- robotic systems
- simulation study
- control loop
- limit cycle
- adaptive control
- control law
- fuzzy systems
- fuzzy controller
- power system
- neural network