Switching and PI control of walking motions of planar biped walkers.
Eric R. WesterveltJessy W. GrizzleCarlos Canudas de WitPublished in: IEEE Trans. Autom. Control. (2003)
Keyphrases
- pi control
- control strategy
- limit cycle
- control scheme
- walking speed
- biped robot
- control law
- biped walking
- humanoid robot
- fuzzy controller
- control algorithm
- control system
- neural model
- human walking
- control method
- closed loop
- pi controller
- operating conditions
- control strategies
- inverted pendulum
- optimal control
- controller design
- mathematical model
- image sequences
- steady state
- pid controller
- optical flow
- human motion
- stability margin
- rough sets
- nonlinear systems
- planar scenes
- data mining
- control parameters
- neural network
- dynamic model
- induction motor
- adaptive control
- fuzzy logic
- computational intelligence
- parameter settings
- membership functions