Dynamic trajectory control of passing over stairs by a biped type leg-wheeled robot with nominal reference of static gait.
Osamu MatsumotoShuuji KajitaMuneharu SaigoKazuo TaniPublished in: IROS (1998)
Keyphrases
- biped robot
- inverted pendulum
- legged robots
- feedback control
- control strategy
- simulation study
- intelligent control
- biologically inspired
- mobile robot
- fuzzy controller
- nonlinear systems
- dynamic environments
- quadruped robot
- fuzzy systems
- initial conditions
- control algorithm
- control system
- sagittal plane
- control method
- collision free
- closed loop