Walking stabilization of biped with pneumatic actuators against terrain changes.
Takashi TakumaKoh HosodaMinoru AsadaPublished in: IROS (2005)
Keyphrases
- biped walking
- degrees of freedom
- biped robot
- control system
- legged robots
- stability margin
- humanoid robot
- inverted pendulum
- open loop
- walking robot
- rough terrain
- control strategy
- control law
- intelligent control
- force control
- closed loop
- control algorithm
- motion planning
- interval type fuzzy
- nonlinear systems
- fuzzy controller
- multiresolution
- terrain modeling
- pose estimation
- three dimensional
- robot arm
- stability analysis
- biologically inspired
- mathematical model
- fuzzy logic
- video stabilization
- wheeled mobile robots
- real time
- digital terrain
- digital elevation models
- control parameters
- control scheme
- simulation study
- neural network