A novel generation method for underactuated bipedal gait with landing position control of swing leg based on property of zero dynamics.
Fumihiko AsanoPublished in: AIM (2015)
Keyphrases
- walking speed
- generation method
- position control
- feedback loop
- humanoid robot
- limit cycle
- control scheme
- motion planning
- gait patterns
- robot arm
- gait recognition
- dynamic model
- degrees of freedom
- joint angles
- closed loop
- robotic manipulator
- biped robot
- multi modal
- end effector
- inverse kinematics
- force control
- control system
- steady state
- fuzzy logic
- control law
- neural network
- finite element model
- real robot
- finite element