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Science / Physical quantities / Torque / Robotics / Feedforward control / Control theory / Humanoid robot / PID controller / Motion planning / Physics / Rotation / Systems theory


Human-inspired Walking via Unified PD and Impedance Control Wen-Loong Ma1 , Hui-Hua Zhao1 , Shishir Kolathaya1 and Aaron D. Ames2 Abstract— This paper describes a torque control scheme unifying feedback PD control and
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Document Date: 2014-02-02 20:48:39

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City

St. Paul / College Station / New Orleans / Berlin / Cambridge / Beijing / Reading / /

Company

BLDC / CRC Press / Hybrid Systems / National Instruments / 2012 IEEE Intl / Let Lc / 15th ACM Intl / /

Country

United States / /

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Facility

Hall Angle / Asymptotically stable / Prentice Hall / Hall Sensor Signal / /

IndustryTerm

impedance control law / transfemoral prosthetic device / optimization algorithm / mechanical systems / impedance torque control law / feedback linearization control law results / electronics / control law / /

Organization

Torque Command / National Science Foundation / Workspace and Torque Command / US Federal Reserve / National Aeronautics and Space Administration / Texas A & M University / /

Person

Michael Goldfarb / Eric J Perreault / Navid Aghasadeghi / Frank Sup / Aaron D Ames / Mark W. Spong / P. Stone / N. Kohl / Dan Koditschek / Gain / John Guckenheimer / Amit Bohara / Francesco Bullo / Timothy Bretl / B. Joseph C. Brosilow / Neville Hogan / Huihua Zhao / Levi J Hargrove / Philip Holmes / /

Position

low-level controller / feed-forward controller / Guard / PI controller / low level controller / impedance controller / unified PD-impedance controller / RT / PD controller / feedback linearizing controller / dynamics controller / PD controller / with e the tracking error / motor model / and impact dynamics / human-inspired controller / torque controller / proposed controller / feed forward impedance controller / unified controller / linearizing controller / V. EXPERIMENTAL REALIZATION The controller / appropriate controller / high level controller / feedback linearization controller / low level controller / enable/disable motors / feedback controller / controller / Stop-RT / /

ProgrammingLanguage

C++ / /

ProvinceOrState

Texas / Minnesota / Louisiana / Massachusetts / /

PublishedMedium

The International journal / /

Technology

FPGA / 1 Real Time Module Algorithm / optimization algorithm / walking algorithm / Simulation / /

URL

http /

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