Compliant humanoid robot control by the torque transformer.
Taizo YoshikawaOussama KhatibPublished in: IROS (2009)
Keyphrases
- robot control
- mobile robot
- fuzzy logic
- autonomous robots
- humanoid robot
- control algorithm
- object manipulation
- motion control
- control scheme
- induction motor
- fault diagnosis
- unstructured environments
- visual servoing
- motor control
- motion planning
- reinforcement learning
- degrees of freedom
- subsumption architecture
- pid controller
- dynamic model
- control strategy
- soft computing
- neural network
- experimental data
- power system
- real time