Heel and toe lifting walk controller for traversing uneven terrain.
Seung-Joon YiDennis W. HongDaniel D. LeePublished in: Humanoids (2015)
Keyphrases
- quadruped robot
- wavelet transform
- legged robots
- control system
- multiresolution
- three dimensional
- random walk
- control scheme
- terrain modeling
- closed loop
- control algorithm
- lifting scheme
- rough terrain
- real time
- optimal control
- controller design
- control theory
- adaptive neural
- disturbance rejection
- pid controller
- adaptive control
- mobile robot
- multiscale
- robotic manipulator
- neural network controller
- daubechies wavelet
- fuzzy controller
- digital elevation models
- control architecture
- control method
- control strategy
- fuzzy logic
- neural network