Constraint of center of gravity in a biped walking robot via sliding mode approach.
Fumiaki TakemoriAkira KitamuraDaisuke KushidaPublished in: IROS (2004)
Keyphrases
- sliding mode
- control strategy
- control law
- walking robot
- variable structure
- closed loop
- sliding mode control
- stability analysis
- control algorithm
- control scheme
- control system
- control theory
- nonlinear systems
- mathematical model
- adaptive control
- robot manipulators
- optimal control
- sliding surface
- control method
- motion planning
- dynamic model
- multi modal
- particle swarm optimization
- color images