A robust walking controller based on online step location and duration optimization for bipedal locomotion.
Majid KhadivAlexander HerzogS. Ali A. MoosavianLudovic RighettiPublished in: CoRR (2017)
Keyphrases
- walking speed
- central pattern generator
- humanoid robot
- legged locomotion
- online learning
- legged robots
- closed loop
- real time
- global optimization
- limit cycle
- optimization method
- optimization process
- optimization algorithm
- post processing
- control system
- optimization problems
- biped walking
- pid controller
- autonomous robots
- gait recognition
- robust optimization
- multi modal
- disturbance rejection
- robust stability
- mobile robot
- multi objective