Hybrid Position/Torque Ankle Controller for Minimizing ZMP error of Humanoid Robot.
Junhyung KimBeomyeong ParkHokyun LeeJaeheung ParkPublished in: UR (2021)
Keyphrases
- humanoid robot
- control theory
- position control
- control scheme
- motion planning
- walking speed
- closed loop
- robotic manipulator
- joint space
- robot arm
- limit cycle
- control law
- control system
- disturbance rejection
- biologically inspired
- force control
- multi modal
- control algorithm
- dc motor
- human robot interaction
- pid controller
- biped walking
- end effector
- control strategy
- dynamic model
- fully autonomous
- human robot
- motion capture
- body movements
- contact force
- manipulation tasks
- degrees of freedom
- human motion
- optimal control
- imitation learning
- motor skills
- control strategies
- position and orientation
- real robot
- control loop
- induction motor
- control method
- mobile robot