Investigation of Reality Constraints: Morphology and Controller of Two-Link Legged Locomotors for Dynamically Stable Locomotion.
Kojiro MatsushitaHiroshi YokoiTamio AraiPublished in: SAB (2006)
Keyphrases
- legged robots
- rough terrain
- motion control
- quadruped robot
- legged locomotion
- disturbance rejection
- mobile robot
- degrees of freedom
- physical constraints
- neural network
- central pattern generator
- image analysis
- real time
- fuzzy controller
- constrained optimization
- autonomous robots
- image processing
- initial conditions
- control system
- robot control
- constraint satisfaction
- feedback control
- gray scale
- control strategy
- control algorithm
- inverted pendulum
- humanoid robot
- control architecture
- morphological operators
- global constraints
- control scheme