Nonholonomic virtual constraints and gait optimization for robust walking control.
Brent A. GriffinJessy W. GrizzlePublished in: Int. J. Robotics Res. (2017)
Keyphrases
- biped robot
- legged robots
- constrained optimization
- mobile robot
- human gait
- autonomous control
- feedback control
- control system
- optimization algorithm
- virtual environment
- control strategy
- limit cycle
- control method
- gait patterns
- walking speed
- sliding mode
- control theory
- optimization problems
- gait recognition
- control law
- optimal control
- tracking control
- inverted pendulum
- adaptive control
- disturbance rejection
- human walking
- augmented reality
- mathematical model
- virtual world