Online gain switching algorithm for joint position control of a hydraulic humanoid robot

Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007

Volumn , Issue , 2007, Pages 13-18

  Kim, Jung Yup ^a   Atkeson, Christopher G ^a   Hodgins, Jessica K ^a   Bentivegna, Darrin C ^a,b   Cho, Sung Ju ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

^b ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

Author keywords

Gain switching; Hydraulic humanoid; Joint position control

Indexed keywords

ANTHROPOMORPHIC ROBOTS; BIOPHYSICS; CONTROLLERS; GAIT ANALYSIS; HYDRAULIC ACTUATORS; STATE FEEDBACK;

GAIN SWITCHING; GROUND REACTION FORCES; HYDRAULIC HUMANOIDS; JOINT POSITION CONTROLS; LINEAR INTERPOLATION; PROPORTIONAL-DERIVATIVE CONTROLLERS; STATE FEEDBACK CONTROLLER; STATE FEEDBACK GAIN;

POSITION CONTROL;

EID: 67649872778     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2007.4813843     Document Type: Conference Paper

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