Biped walking stabilization based on linear inverted pendulum tracking.
Shuuji KajitaMitsuharu MorisawaKanako MiuraShinichiro NakaokaKensuke HaradaKenji KanekoFumio KanehiroKazuhito YokoiPublished in: IROS (2010)
Keyphrases
- inverted pendulum
- biped walking
- stability margin
- legged robots
- simulation study
- nonlinear systems
- feedback control
- adaptive fuzzy
- control algorithm
- intelligent control
- particle filter
- initial conditions
- external disturbances
- real time
- closed loop
- particle swarm optimization
- interval type fuzzy
- mobile robot
- artificial neural networks
- machine learning