A Universal Stability Criterion of the Foot Contact of Legged Robots - Adios ZMP.
Hirohisa HirukawaShizuko HattoriKensuke HaradaShuuji KajitaKenji KanekoFumio KanehiroKiyoshi FujiwaraMitsuharu MorisawaPublished in: ICRA (2006)
Keyphrases
- legged robots
- stability criterion
- robust stability
- contact force
- fuzzy controller
- inverted pendulum
- tuning parameters
- transmission line
- real time control
- mobile robot
- parameter tuning
- linear matrix inequality
- finite element model
- neural network
- nonlinear systems
- dynamic model
- sufficient conditions
- learning algorithm