Mobility of a leg-wheeled robot with reduced DOF on designated terrains using skating motion by passive wheels.
Nurul Izzati AzlizanKatsuhiko InagakiPublished in: ROBIO (2014)
Keyphrases
- humanoid robot
- joint angles
- motion planning
- mobile robot
- end effector
- walking speed
- parallel robot
- sagittal plane
- inverse kinematics
- degrees of freedom
- motion control
- inverse dynamics
- inverted pendulum
- path planning
- position and orientation
- kinematic model
- autonomous navigation
- robot motion
- quadruped robot
- motion capture
- human body
- robot arm
- visual servoing
- robotic arm
- robot manipulators
- rough terrain
- vision system
- monocular vision
- walking robot
- human motion
- human robot interaction
- multi robot
- collision free
- virtual environment
- hand eye calibration
- straight line
- parallel manipulator
- limit cycle
- autonomous robots
- robotic systems
- robot moves
- nonlinear systems
- real robot
- motion estimation
- control signals
- biped robot
- camera motion
- mobile agents
- physical constraints