Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain.
Tomislav HorvatKonstantinos KarakasiliotisKamilo MeloLaura FleuryRobin ThandiackalAuke Jan IjspeertPublished in: IROS (2015)
Keyphrases
- inverse kinematics
- joint angles
- legged robots
- robot manipulators
- walking robot
- biped walking
- robot arm
- motion planning
- end effector
- humanoid robot
- quadruped robot
- rough terrain
- position and orientation
- central pattern generator
- control scheme
- biped robot
- stability margin
- walking speed
- upper body
- limit cycle
- three dimensional
- control law
- mobile robot
- inverted pendulum
- pid controller
- human body
- control system
- degrees of freedom
- dynamic model
- real time
- control strategy
- control strategies
- control algorithm
- closed loop
- fuzzy controller
- configuration space
- reference trajectory
- adaptive control
- pose estimation
- real robot