Control strategy for gait transition of an underactuated 3D bipedal robot.
Haihui YuanYimin GeChunbiao GanPublished in: Frontiers Inf. Technol. Electron. Eng. (2019)
Keyphrases
- control strategy
- biped robot
- humanoid robot
- control algorithm
- walking speed
- control method
- motion planning
- control architecture
- operating conditions
- force control
- control system
- control strategies
- mathematical model
- inverted pendulum
- optimal control
- control scheme
- autonomous robots
- control law
- fuzzy controller
- mechanical systems
- legged robots
- mobile robot
- speed control
- biologically inspired
- sliding mode control
- transient response
- predictive control
- control loop
- fuzzy logic control
- robot arm
- variable structure
- closed loop
- vision system
- degrees of freedom
- pi controller
- nonlinear systems
- neural network