An Untethered Brittle Star Robot for Closed-Loop Underwater Locomotion.
Zach J. PattersonAndrew P. SabelhausKeene ChinCarmel MajidiPublished in: CoRR (2020)
Keyphrases
- closed loop
- mobile robot
- force control
- trajectory tracking
- open loop
- robotic systems
- rough terrain
- robot control
- control scheme
- control law
- robot moves
- control system
- feedback control
- legged robots
- central pattern generator
- pid controller
- position control
- control loop
- reference trajectory
- autonomous robots
- visual servoing
- parameter identification
- asymptotic stability
- humanoid robot
- multi robot
- robot manipulators
- path planning
- disturbance rejection
- tracking error
- vision system
- control architecture
- objective function
- position and orientation
- feedback controller
- degrees of freedom
- fuzzy controller
- controller design
- robot arm
- nonlinear systems