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High-speed running quadruped robot with a multi-joint spine adopting a 1DoF closed-loop linkage.
Ojiro Matsumoto
Hiroaki Tanaka
Takumi Kawasetsu
Koh Hosoda
Published in:
Frontiers Robotics AI (2023)
Keyphrases
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closed loop
position control
open loop
control system
control scheme
quadruped robot
control law
feedback control
force control
pid controller
robotic manipulator
real time
end effector
rough terrain
path planning
disturbance rejection