Robust stabilization of a fully actuated 3D bipedal locomotion via nonlinear H∞-control under unilateral constraints.
Oscar E. MontanoYury OrlovYannick AoustinChristine ChevallereauPublished in: Humanoids (2016)
Keyphrases
- open loop
- closed loop
- robot control
- control system
- inverted pendulum
- feedback control
- highly nonlinear
- robotic systems
- legged robots
- mobile robot
- nonlinear dynamics
- control law
- reinforcement learning
- control theory
- initial conditions
- tracking control
- autonomous robots
- control scheme
- partial occlusion
- degrees of freedom
- real time
- robust stability
- control loop
- stability analysis
- adaptive control