Feedback control for compass-like biped robot with underactuated ankles using transverse coordinate transformation.
Gangfeng YanChong TangZhiyun LinIvan MallociPublished in: Robotica (2015)
Keyphrases
- feedback control
- coordinate transformation
- biped robot
- inverted pendulum
- mechanical systems
- closed loop
- open loop
- optimal control
- adaptive control
- control strategy
- motion planning
- linear time invariant
- networked control systems
- biologically inspired
- control system
- real time
- initial conditions
- degrees of freedom
- simulation study
- evolutionary algorithm
- artificial neural networks
- expert systems
- autonomous control
- artificial intelligence
- neural network