Zero-Moment Point feedforward balance control of leg-wheel hybrid structures by using Input/Output Linearization.
Sang-ik AnDong-Soo KwonPublished in: IROS (2011)
Keyphrases
- input output
- feed forward
- adaptive neural
- back propagation
- artificial neural networks
- neural nets
- fuzzy neural network
- control strategy
- inverted pendulum
- fuzzy logic controller
- neural network
- hidden layer
- fuzzy controller
- control method
- noise cancellation
- fuzzy inference system
- biologically plausible
- recurrent neural networks
- pwm rectifier
- control system
- wheeled mobile robots
- disturbance rejection
- data envelopment analysis
- output layer
- nonlinear functions
- internal states
- recurrent networks
- wheel slip
- visual cortex
- activation function
- fuzzy model
- neural architecture
- neuron model
- biped robot
- walking robot
- fuzzy logic
- feedforward neural networks
- state transition
- genetic algorithm
- primate visual cortex
- machine learning