Stability Control for Dynamic Walking of Bipedal Robot with Real-time Capture Point Trajectory Optimization.
In-Seok KimYoung-Joong HanYoung-Dae HongPublished in: J. Intell. Robotic Syst. (2019)
Keyphrases
- humanoid robot
- real time
- reference trajectory
- legged robots
- autonomous robots
- walking robot
- walking speed
- closed loop
- control system
- robot motion
- changing environment
- control signals
- motion planning
- control loop
- biped robot
- trajectory tracking
- stability margin
- vision system
- robot control
- mobile robot
- trajectory planning
- dynamic environments
- robotic arm
- collision free
- inverted pendulum
- real time control
- human robot interaction
- data acquisition
- legged locomotion
- robotic systems
- visual feedback
- disturbance rejection
- autonomous vehicles
- lower extremity
- robot behavior
- control law
- motion control
- visual servoing
- obstacle avoidance
- biped walking
- neural network controller
- robot manipulators
- control center
- real environment
- formation control
- multi robot
- optimal control
- control strategy
- hand eye
- end effector
- control method
- configuration space
- lyapunov function