A Robust Walking Controller Based on Online Optimization of Ankle, Hip, and Stepping Strategies.
Hyobin JeongIn-Ho LeeJaesung OhKang Kyu LeeJun-Ho OhPublished in: IEEE Trans. Robotics (2019)
Keyphrases
- limit cycle
- lower extremity
- disturbance rejection
- optimization strategies
- real time
- optimization algorithm
- steady state
- closed loop
- neural model
- robust optimization
- optimization problems
- constrained optimization
- control system
- optimization method
- biped robot
- computationally efficient
- control algorithm
- biped walking
- online learning
- reference trajectory
- control scheme
- robust stability
- simultaneous optimization
- stochastic gradient
- controller design
- pid controller
- humanoid robot
- partial occlusion
- numerical simulations
- multi objective
- objective function
- neural network