Standing Posture Control of Bipedal Robots with Adaptive Compliance Under Unknown Payload Variations and External Disturbances.
Yichao MaoQiuguo ZhuChunlin ZhouRong XiongPublished in: Int. J. Humanoid Robotics (2017)
Keyphrases
- external disturbances
- closed loop
- control law
- adaptive fuzzy
- autonomous robots
- sliding mode control
- control scheme
- adaptive control
- control system
- feedback control
- radial basis function neural network
- adaptive neural
- mobile robot
- nonlinear systems
- robotic systems
- control strategy
- control algorithm
- inverted pendulum
- tracking error
- control theory
- humanoid robot
- sliding mode
- pid controller
- fuzzy control
- motion planning
- fuzzy logic controller
- optimal control
- neural network
- dynamic model
- pattern classification
- variable structure
- human body
- artificial neural networks