Event-based PI control of an underactuated biped walker.
J. W. GrizzleE. R. WesterveltCarlos Canudas-de-WitPublished in: CDC (2003)
Keyphrases
- pi control
- control strategy
- mechanical systems
- control scheme
- control system
- fuzzy controller
- control law
- control method
- control algorithm
- biped robot
- operating conditions
- motion planning
- mathematical model
- control strategies
- pi controller
- optimal control
- receding horizon
- humanoid robot
- matlab simulink
- degrees of freedom
- biped walking
- fuzzy control
- closed loop
- nonlinear systems
- artificial neural networks
- real time
- mobile robot
- genetic algorithm
- pattern recognition
- machine learning
- neural network