Dynamic Model and Control of a Walking Stick Robot.
Baiqing SunZhe LiQiuhao ZhangLinlin SongWenbo FanJunyou YangPublished in: ISR (2018)
Keyphrases
- dynamic model
- trajectory tracking
- robot manipulators
- walking robot
- biped robot
- control scheme
- humanoid robot
- experimental data
- legged robots
- robot control
- controller design
- mobile robot
- reduced order model
- robotic systems
- lower extremity
- closed loop
- autonomous robots
- control system
- end effector
- visual servoing
- multiple models
- control method
- reference trajectory
- inverse kinematics
- vision system
- bi directional
- iterative learning
- sliding mode control
- parallel manipulator
- path planning
- biped walking
- shear stress
- multi robot
- neural network controller
- control strategy
- predictive control
- control law
- physical constraints
- motion planning
- control theory
- control strategies