The Control of a Bipedal Running Robot based on Output Zeroing considered Rotation of the Ankle Joint.
Toshikazu ShimizuShigeki NakauraMitsuji SampeiPublished in: CDC (2006)
Keyphrases
- autonomous robots
- control signals
- lower extremity
- sagittal plane
- mobile robot
- robot control
- humanoid robot
- hand eye
- robot manipulators
- robotic systems
- closed loop
- motion control
- trajectory tracking
- robotic arm
- visual servoing
- robot navigation
- human operators
- control loop
- inverted pendulum
- force feedback
- vision system
- control architecture
- control system
- control method
- control law
- robot behavior
- force control
- multi modal
- skill learning
- semi autonomous
- control strategies
- motor learning
- kinematic model
- neural network
- path planning
- real robot
- sensory motor
- robot motion
- modular robots
- feedback loop