Walk-Assist Robot: A Novel Approach to Gain Selection of a Braking Controller Using Differential Flatness.
Chun-Hsu KoKuu-Young YoungYi-Che HuangSunil Kumar AgrawalPublished in: IEEE Trans. Control. Syst. Technol. (2013)
Keyphrases
- motion control
- control architecture
- mobile robot
- real time
- biped walking
- random walk
- autonomous robots
- control law
- robot navigation
- force control
- robotic manipulator
- control system
- robot arm
- visual servoing
- robot control
- trajectory tracking
- biped robot
- closed loop
- path planning
- human robot interaction
- vision system
- controller design
- robot manipulators
- wheeled mobile robot
- mobile robotics
- end effector
- position and orientation
- robotic systems
- data acquisition
- control theory
- legged robots
- pid controller
- sliding mode control
- control method
- stability margin
- dynamic model
- central pattern generator
- liquid state machine