Torque and Compliance Control of the Pneumatic Artificial Muscles in the Biped "Lucy".
Bram VanderborghtBjörn VerrelstRonald Van HamMichaël Van DammePieter BeylDirk LefeberPublished in: ICRA (2006)
Keyphrases
- control strategy
- control system
- force control
- control algorithm
- control scheme
- control method
- control strategies
- control law
- mathematical model
- fuzzy logic control
- pid control
- optimal control
- control architecture
- feedback loop
- control parameters
- robot manipulators
- real time
- inverted pendulum
- biped robot
- external forces
- optimization algorithm
- robot arm
- control theory
- process control
- path planning
- degrees of freedom