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Realtime ZMP compensation for biped walking robot using adaptive inertia force control.
Yu Okumura
Tetsuo Tawara
Ken Endo
Takayuki Furuta
Masaharu Shimizu
Published in:
IROS (2003)
Keyphrases
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force control
control strategy
control law
walking robot
control theory
robot manipulators
real time
robotic cell
closed loop
control algorithm
artificial neural networks
impedance control
control parameters
control system
control scheme
nonlinear systems
control method
numerical simulations
dynamic programming