Passivity-based control of underactuated biped robots within hybrid zero dynamics approach.
Hamid SadeghianChristian OttGianluca GarofaloGordon ChengPublished 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