Study of Dynamic Walk Control of a Biped Robot on Rugged Terrain - Derivation and Application of the Linear Inverted Pendulum Mode -.
Shuuji KajitaKazuo TaniPublished in: J. Robotics Mechatronics (1993)
Keyphrases
- biped robot
- inverted pendulum
- simulation study
- legged robots
- control strategy
- intelligent control
- feedback control
- nonlinear systems
- biologically inspired
- adaptive control
- decision making
- control algorithm
- fuzzy controller
- initial conditions
- fuzzy systems
- neuro fuzzy
- fixed point
- mathematical model
- dynamic environments
- multi modal
- artificial neural networks