Gait detection based stable locomotion control system for biped robots

Computers and Mathematics with Applications

Volumn 64, Issue 5, 2012, Pages 1431-1440

  Shieh, Ming Yuan ^a   Chen, Chien Sheng ^a   Chuang, Chen Hsin ^a   Liou, Yi Rong ^a   Li, Jeng Han ^b  

^a SOUTHERN TAIWAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Taiwan)

^b INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE   (Taiwan)

Author keywords

Biped robot; Force sensing; Stable locomotion control; Zero moment point

Indexed keywords

ADAPTIVE ABILITY; BIPED ROBOT; ENVIRONMENTAL OBJECTIVES; FLEXIBLE FORCE; FOOT PRESSURES; FORCE SENSING; GAIT DETECTION; NEUROFUZZY CONTROL; STABLE LOCOMOTION; UNEVEN SURFACES; UNEVEN TERRAIN; ZERO MOMENT POINT; ZMP TRAJECTORY;

FUZZY CONTROL;

CONTROL SYSTEMS;

EID: 84865678685     PISSN: 08981221     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.camwa.2012.03.090     Document Type: Conference Paper

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