A robust and compliant framework for legged mobile manipulators using virtual model control and whole-body control.
Aizhen XieTeng ChenXuewen RongGuoteng ZhangYibin LiYong FanPublished in: Robotics Auton. Syst. (2023)
Keyphrases
- computational model
- probabilistic model
- control system
- formal model
- theoretical framework
- process model
- management system
- adaptive control
- conceptual framework
- high level
- control strategies
- prior knowledge
- mobile devices
- mathematical model
- control method
- discrete event
- control architecture
- theoretical foundation
- bayesian framework
- conceptual model
- experimental data
- mobile robot
- path planning
- motion control
- highly nonlinear
- optimal control
- context aware
- similarity measure