Control And Software Structures Of A Hydraulic Six-legged Machine Designed For Locomotion In Natural Environment.
Kari K. HartikainenHannu LehtinenAarne HalmeKari KoskinenPublished in: IROS (1992)
Keyphrases
- natural environment
- legged locomotion
- legged robots
- control system
- rough terrain
- motion control
- control method
- robot control
- mobile robot
- quadruped robot
- robotic systems
- inverted pendulum
- humanoid robot
- software development
- virtual instrument
- control strategy
- disturbance rejection
- degrees of freedom
- environmental conditions
- highly nonlinear