SLIP-Model-Based Dynamic Gait Generation in a Leg-Wheel Transformable Robot With Force Control.
Yun-Meng LinHung-Sheng LinPei-Chun LinPublished in: IEEE Robotics Autom. Lett. (2017)
Keyphrases
- force control
- biped robot
- control strategy
- robot manipulators
- robotic cell
- closed loop
- quadruped robot
- control law
- control scheme
- gait patterns
- mobile robot
- humanoid robot
- control architecture
- inverse kinematics
- joint angles
- dynamic environments
- walking robot
- sagittal plane
- control method
- motion planning
- control system
- legged robots
- vision system
- optimal control
- walking speed
- dynamic model
- rough terrain
- neural network
- impedance control
- mathematical model
- visual servoing
- limit cycle
- control algorithm
- contact force
- boundary conditions