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Implementation and stability analysis of prioritized whole-body compliant controllers on a wheeled humanoid robot in uneven terrains.
Luis Sentis
Josh Petersen
Roland Philippsen
Published in:
Auton. Robots (2013)
Keyphrases
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humanoid robot
stability analysis
nonlinear systems
motion planning
sliding mode
multi modal
control law
inverted pendulum
control system
adaptive control
reinforcement learning
manipulation tasks
real robot
mobile robot
joint space
stability margin
human motion
body movements
walking speed
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