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Ground reaction force control at each foot: A momentum-based humanoid balance controller for non-level and non-stationary ground.
Sung-Hee Lee
Ambarish Goswami
Published in:
IROS (2010)
Keyphrases
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non stationary
force control
closed loop
adaptive algorithms
impedance control
control strategy
control system
neural network
control law
empirical mode decomposition
robot manipulators
real time
experimental data
degrees of freedom
robotic cell