HZD-based control of a five-link underactuated 3D bipedal robot.
Jessy W. GrizzleChristine ChevallereauChing-Long ShihPublished in: CDC (2008)
Keyphrases
- autonomous robots
- humanoid robot
- receding horizon
- mechanical systems
- mobile robot
- motion planning
- formation control
- robot control
- robotic systems
- robotic arm
- hand eye
- motion control
- robot manipulators
- control signals
- robot navigation
- control system
- visual servoing
- robot behavior
- degrees of freedom
- robot motion
- human operators
- control strategies
- end effector
- force control
- obstacle avoidance
- optimal control
- control strategy
- vision system
- human robot interaction
- sensory motor
- legged robots
- closed loop
- computer controlled
- position and orientation
- motor learning
- trajectory tracking
- skill learning
- biped robot
- multi robot
- control architecture