An Untethered Brittle Star-Inspired Soft Robot for Closed-Loop Underwater Locomotion.
Zach J. PattersonAndrew P. SabelhausKeene ChinTess Lee HellebrekersCarmel MajidiPublished in: IROS (2020)
Keyphrases
- closed loop
- mobile robot
- trajectory tracking
- force control
- robot control
- rough terrain
- control scheme
- robotic systems
- open loop
- control law
- robot manipulators
- pid controller
- control system
- robot moves
- legged robots
- control loop
- central pattern generator
- parameter identification
- feedback control
- reference trajectory
- position control
- autonomous robots
- visual servoing
- asymptotic stability
- feedback controller
- vision system
- path planning
- humanoid robot
- end effector
- disturbance rejection
- robotic manipulator
- robot arm
- external disturbances
- control architecture
- motion planning
- real time
- multi robot
- tracking error
- fuzzy logic
- adaptive control
- objective function
- neural network