Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller.
Yukai GongJessy W. GrizzlePublished in: CoRR (2020)
Keyphrases
- control system
- inverted pendulum
- closed loop
- quadruped robot
- optimal control
- control strategy
- legged robots
- control method
- feedback control
- open loop
- control theory
- controller design
- robotic systems
- control architecture
- motion control
- mobile robot
- control rules
- adaptive control
- autonomous robots
- control loop
- control algorithm
- control policy
- central pattern generator
- robot control
- control scheme
- guaranteed cost
- operating conditions
- adaptive fuzzy
- neural network controller
- learning rate
- adaptive neural
- intelligent control
- fuzzy pid
- disturbance rejection
- fuzzy logic control
- control strategies
- robotic manipulator
- legged locomotion
- fuzzy controller
- real time
- nonlinear systems
- micro controller
- iterative learning control
- biped robot
- neural network
- visual servoing
- walking speed
- robust stability
- robot manipulators
- pid control
- control law
- dc motor
- fuzzy control