Dynamic balance control for biped robot walking using sensor fusion, Kalman filter, and fuzzy logic

IEEE Transactions on Industrial Electronics

Volumn 59, Issue 11, 2012, Pages 4394-4408

  Li, Tzuu Hseng S ^a   Su, Yu Te ^a   Liu, Shao Hsien ^a   Hu, Jhen Jia ^a   Chen, Ching Chang ^a  

^a NATIONAL CHENG KUNG UNIVERSITY   (Taiwan)

Author keywords

Biped robot walking; fuzzy logic control; Kalman filter (KF); zero moment point (ZMP) trajectory

Indexed keywords

ADJUSTABLE PARAMETERS; BIPED ROBOT; BIPED ROBOT WALKING; BIPED WALKING; CONTROL SCHEMES; DYNAMIC BALANCE; FORCE SENSOR; FUNDAMENTAL RESEARCH; FUZZY LOGIC CONTROL; FUZZY MOTION CONTROLLERS; GROUND CONDITIONS; LATERAL PLANE; SENSOR FUSION; SYSTEM STATE; TRUNK INCLINATION; WALKING ABILITY; WALKING STABILITY; ZERO MOMENT POINT; ZMP TRAJECTORY;

FUZZY LOGIC; KALMAN FILTERS; SENSORS; TRAJECTORIES;

WALKING AIDS;

EID: 84863003366     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2011.2175671     Document Type: Article

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