A Cascade PD Controller for Heavy Self-balancing Robot.
Michal OkulskiMaciej LawrynczukPublished in: AUTOMATION (2018)
Keyphrases
- control architecture
- biped walking
- mobile robot
- motion control
- robotic manipulator
- control system
- wheeled mobile robot
- human robot interaction
- control signals
- force control
- central pattern generator
- control algorithm
- real time
- trajectory tracking
- biped robot
- legged robots
- robotic systems
- robot manipulators
- autonomous robots
- robot navigation
- vision system
- control scheme
- robot soccer
- liquid state machine
- modular robots
- service robots
- multi robot
- quadruped robot
- robot control
- obstacle avoidance
- simulated robot
- stability margin
- neural network
- controller design
- pid controller
- humanoid robot
- control strategy
- path planning
- control loop
- rough terrain
- robot arm
- feedback control
- control method