Locomotion control of a biped locomotion robot using nonlinear oscillators.
Kazuo TsuchiyaShinya AoiKatsuyoshi TsujitaPublished in: IROS (2003)
Keyphrases
- real robot
- legged robots
- humanoid robot
- robotic systems
- legged locomotion
- mobile robot
- robot motion
- rough terrain
- motion control
- quadruped robot
- stability margin
- biped walking
- robot control
- control law
- autonomous robots
- robot behavior
- multi modal
- control architecture
- robotic manipulator
- inverted pendulum
- motion planning
- human robot
- human robot interaction
- simultaneous localization and mapping
- autonomous navigation
- path planning
- human motion
- control strategy
- vision system
- robot moves
- control system
- central pattern generator
- highly nonlinear
- visual servoing
- control method
- degrees of freedom