A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait.
Taku KomuraHoward LeungShunsuke KudohJames KuffnerPublished in: ICRA (2005)
Keyphrases
- feedback controller
- closed loop
- control scheme
- feedback control
- biped robot
- control law
- controller design
- control strategy
- inverted pendulum
- control system
- open loop
- fuzzy systems
- adaptive control
- nonlinear systems
- optimal control
- feed forward
- dynamic model
- control algorithm
- fuzzy controller
- neural network
- control method
- control theory
- control parameters
- mathematical model
- multi modal
- pid controller
- rough sets