Hybrid position/force control for biped robot stabilization with integrated center of mass dynamics.
Felix SygullaRobert WittmannPhilipp SeiwaldArne-Christoph HildebrandtDaniel WahrmannDaniel RixenPublished in: Humanoids (2017)
Keyphrases
- force control
- position control
- biped robot
- control strategy
- robot manipulators
- control scheme
- control system
- dynamic model
- closed loop
- control algorithm
- dynamical systems
- control strategies
- mathematical model
- biologically inspired
- control law
- optimal control
- end effector
- control method
- fuzzy neural network
- fuzzy controller
- robotic manipulator
- inverted pendulum
- position and orientation
- fuzzy logic