Hierarchical optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids.
Munzir ZafarSeth HutchinsonEvangelos A. TheodorouPublished in: ICRA (2019)
Keyphrases
- inverted pendulum
- intelligent control
- feedback control
- simulation study
- open loop
- adaptive fuzzy
- nonlinear systems
- fuzzy controller
- control algorithm
- biped robot
- evolutionary neural networks
- initial conditions
- fuzzy systems
- mobile robot
- global optimization
- legged robots
- fuzzy logic
- control strategy
- control system
- learning rate
- control scheme
- monte carlo
- particle swarm optimization