Active disturbance rejection for walking bipedal robots using the acceleration of the upper limbs.

Joshua Hill Farbod Fahimi

Published in: Robotica (2015)

Keyphrases

disturbance rejection
walking speed
humanoid robot
closed loop
limit cycle
autonomous robots
control system
control law
human body
multi robot
multi modal
pid controller
motion planning
mobile robot
neural model
body parts
robotic systems
steady state
real time
control scheme