Biped walking control based on hybrid position/force control.
Thomas BuschmannSebastian LohmeierHeinz UlbrichPublished in: IROS (2009)
Keyphrases
- force control
- position control
- robot manipulators
- control strategy
- impedance control
- biped walking
- closed loop
- control law
- control scheme
- end effector
- robotic manipulator
- stability margin
- control system
- control strategies
- control algorithm
- pid controller
- robot arm
- control architecture
- inverse kinematics
- interval type fuzzy