Stability analysis of snake robot locomotion based on Poincaré maps.
Pål LiljebäckKristin Ytterstad PettersenØyvind StavdahlJan Tommy GravdahlPublished in: IROS (2009)
Keyphrases
- stability analysis
- mobile robot
- rough terrain
- robotic systems
- robot control
- stability margin
- legged robots
- robot moves
- central pattern generator
- nonlinear systems
- autonomous robots
- legged locomotion
- gravitational search algorithm
- robot motion
- humanoid robot
- path planning
- autonomous navigation
- quadruped robot
- real time
- dynamic environments
- sliding mode
- optimization algorithm
- real robot
- robot manipulators
- simultaneous localization and mapping
- degrees of freedom
- least squares
- multi objective
- expert systems