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Terrain-blind walking of planar underactuated bipeds via velocity decomposition-enhanced control.
Martin Fevre
Bill Goodwine
James P. Schmiedeler
Published in:
Int. J. Robotics Res. (2019)
Keyphrases
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walking robot
mechanical systems
legged robots
receding horizon
kinematic model
reference trajectory
three dimensional
multiresolution
wheeled mobile robots
biped robot
moving objects
control strategy
motion planning
process control
planar surfaces
disturbance rejection