Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway.
Yukai GongRoss HartleyXingye DaAyonga HereidOmar HaribJiunn-Kai HuangJessy W. GrizzlePublished in: CoRR (2018)
Keyphrases
- feedback control
- humanoid robot
- closed loop
- inverted pendulum
- legged robots
- biped robot
- reference trajectory
- walking speed
- optimal control
- motion planning
- adaptive control
- open loop
- adaptive fuzzy
- multi modal
- human robot interaction
- autonomous robots
- walking robot
- autonomous control
- biped walking
- fractional order
- feedback controller
- linear time invariant
- control system
- legged locomotion
- control scheme
- mobile robot
- control law
- rough terrain
- real robot
- robot teams
- path planning
- control theory
- nonlinear systems
- human motion
- stability margin
- data mining
- central pattern generator