Mantis hybrid leg-wheel robot: Stability analysis and motion law synthesis for step climbing.
Luca E. BruzzonePietro FanghellaPublished in: MESA (2014)
Keyphrases
- stability analysis
- nonlinear systems
- inverse dynamics
- humanoid robot
- sagittal plane
- motion planning
- adaptive control
- stability margin
- control law
- fuzzy model
- inverted pendulum
- robot arm
- learning rate
- walking robot
- fuzzy systems
- joint angles
- walking speed
- fuzzy control
- sliding mode
- climbing robot
- legged locomotion
- mobile robot
- fuzzy controller
- multi modal
- inverse kinematics
- end effector
- position and orientation
- vision system
- artificial neural networks
- biped robot
- artificial intelligence
- fuzzy clustering
- autonomous navigation
- neural network
- robot manipulators
- real robot
- rough sets
- robotic systems
- human motion
- input output