Passivity-based control of underactuated biped robots within hybrid zero dynamics approach.

Hamid Sadeghian Christian Ott Gianluca Garofalo Gordon Cheng

Published in: ICRA (2017)

Keyphrases

receding horizon
formation control
sliding mode
control strategy
control law
multi robot
mechanical systems
optimal linear
humanoid robot
mobile robot
autonomous systems
robot control

dynamic model
air traffic control
motion control
biped robot
industrial robots
nonlinear dynamics
stability analysis
control system
autonomous robots
collision avoidance
multi robot systems
highly nonlinear

nonlinear systems
robotic systems
biologically inspired
physical constraints
control method
air fuel ratio
dynamical systems
variable structure
sliding mode control
inverted pendulum
human robot interaction
distributed control

tracking error
motion planning
control scheme
pid controller
control parameters
adaptive control
external disturbances
closed loop
path planning
process control
control strategies