31 search results - page 1 / 7 » Standing balance control using a trajectory library |
IROS
2009
IEEE
13 years 11 months ago
2009
IEEE
— This paper presents a standing balance controller. We employ a library of optimal trajectories and the neighboring optimal control method to generate local approximations to th...
EAAI
2007
13 years 4 months ago
2007
In this work, stability control of bipedal standing is investigated. The biped is simplified as an inverted pendulum with a foot-link. The controller consists of a general regres...
CDC
2010
IEEE
12 years 11 months ago
2010
IEEE
This paper presents a hybrid control strategy for navigation of shape-accelerated underactuated balancing systems with dynamic constraints. It extends the concept of sequential com...
ICRA
2006
IEEE
13 years 10 months ago
2006
IEEE
— In this paper, we present a trajectory tracking control algorithm for an autonomous motorcycle for the DARPA Grand Challenge. The mathematical dynamic model of the autonomous m...
ICRA
2006
IEEE
13 years 10 months ago
2006
IEEE
— We present a control approach that uses a library of trajectories to establish a global control law or policy. This is an alternative to methods for finding global policies ba...