@inproceedings{d3e6d385f8bc4c828c7beae670d67600,
title = "A load-adaptive controller for humanoid robots",
abstract = "A crucial problem for humanoid robots is to adapt to the uncertain external environment. Since load is one of the most variable parameters in a humanoid robot and affects the high performance in trajectory tracking, strict requirements for load adaptive controllers have been put forward. In this paper, we present a high performance load-adaptive controller based on BP neural network. The adaptive controller adapt robotic nonlinear systems and the coefficients in the controller can be tuned automatically on-line. The effectiveness of the adaptive controller is confirmed by experiments on BHR-5 humanoid robot.",
keywords = "BP Neural Network, Humanoid Robot, Load Adaptive, Trajectory Tracking",
author = "Mingliang Zhou and Fei Meng and Zhaoyang Cai and Tongtong Zhang and Daojian Li and Zhangguo Yu and Xuechao Chen and Xiaopeng Chen",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 5th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2015 ; Conference date: 09-06-2015 Through 12-06-2015",
year = "2015",
month = oct,
day = "2",
doi = "10.1109/CYBER.2015.7288265",
language = "English",
series = "2015 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2056--2060",
booktitle = "2015 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2015",
address = "United States",
}