Realization of a Real-Time Optimal Control Strategy to Stabilize a Falling Humanoid Robot with Hand Contact.
Shihao WangKris HauserPublished in: ICRA (2018)
Keyphrases
- control strategy
- humanoid robot
- control system
- optimal control
- real time
- control method
- operating conditions
- control loop
- mathematical model
- control algorithm
- control strategies
- control scheme
- multi modal
- biologically inspired
- robot motion
- motion planning
- human robot interaction
- force control
- speed control
- predictive control
- sliding mode control
- fuzzy controller
- control law
- pi controller
- biped robot
- dynamic programming
- pi control
- variable structure
- adaptive control
- spatio temporal