Research of Dynamic Model and Control Ling of Flexible Two-Wheel Upright Self-balance Humanoid Robot.
Xiaogang RuanJianwei ZhaoPublished in: ICIRA (1) (2008)
Keyphrases
- dynamic model
- humanoid robot
- trajectory tracking
- control theory
- wheeled mobile robots
- control scheme
- robot manipulators
- experimental data
- motion planning
- multi modal
- controller design
- parallel manipulator
- joint space
- control system
- human motion
- pattern generator
- reduced order model
- predictive control
- human robot
- sliding surface
- sliding mode
- closed loop
- human robot interaction
- motion capture
- control method
- walking speed
- control strategies
- fully autonomous
- high dimensional
- motor learning
- adaptive control
- control strategy
- spatio temporal