A Closed-Loop Gait for Humanoid Robots Combining LIPM with Parameter Optimization.
Andreas SeekircherUbbo VisserPublished in: RoboCup (2016)
Keyphrases
- closed loop
- parameter optimization
- pid controller
- humanoid robot
- walking speed
- open loop
- control system
- control scheme
- control law
- disturbance rejection
- motion planning
- feedback control
- motion capture
- parameter estimation
- genetic algorithm
- multi modal
- genetic algorithm ga
- control parameters
- differential evolution
- parameter settings
- fuzzy control
- gait recognition
- robot manipulators
- control loop
- real time
- feature space
- inverted pendulum
- evolutionary algorithm
- artificial neural networks
- fuzzy controller
- least squares
- human motion
- particle swarm optimization
- em algorithm