Inverse dynamics control with acceleration optimization on a force-controlled bipedal robot.
Xuechao ChenQiang HuangZhangguo YuJing LiGan MaSi ZhangYue LiPublished in: Humanoids (2012)
Keyphrases
- inverse dynamics
- autonomous robots
- robotic manipulator
- force control
- nonlinear systems
- sagittal plane
- parallel manipulator
- computer controlled
- inverted pendulum
- end effector
- humanoid robot
- robotic systems
- mobile robot
- robot manipulators
- robot control
- position control
- force sensing
- force feedback
- visual servoing
- contact force
- adaptive control
- degrees of freedom
- robotic arm
- optimization algorithm
- closed loop
- visual feedback
- vision system
- particle swarm optimization
- control method
- fuzzy systems
- control strategy
- robot arm
- path planning
- inverse kinematics
- real time
- control system
- motion planning
- artificial neural networks