Force Control of the Redundant leg of a Biped Robot to Produce Large Inertial Effects for Crossing Obstacles.
Paul-François DoubliezOlivier BruneauFethi Ben OuezdouPublished in: Int. J. Humanoid Robotics (2012)
Keyphrases
- biped robot
- force control
- control strategy
- control scheme
- mathematical model
- control algorithm
- control method
- control law
- control system
- optimal control
- control strategies
- fuzzy controller
- robot manipulators
- fuzzy neural network
- control architecture
- biologically inspired
- closed loop
- inverted pendulum
- nonlinear systems
- neural network
- real time
- dynamic model
- fuzzy control
- learning algorithm