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Variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains.
Xinyuan Zhao
Yuqiang Wu
Yangwei You
Arturo Laurenzi
Nikolaos G. Tsagarakis
Published in:
Frontiers Robotics AI (2022)
Keyphrases
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legged robots
quadruped robot
mobile robot
contact force
rough terrain
legged locomotion
inverted pendulum
finite element model
virtual environment
robotic systems
complex environments
real robot
reinforcement learning
stability analysis
collision avoidance