A robot leg with compliant tarsus and its neural control for efficient and adaptive locomotion on complex terrains.
Giuliano Di CanioStoyan StoyanovJørgen Christian LarsenJohn HallamAlexandr KovalevT. KleinteichStanislav N. GorbPoramate ManoonpongPublished in: Artif. Life Robotics (2016)
Keyphrases
- quadruped robot
- legged locomotion
- robotic systems
- robot control
- central pattern generator
- mobile robot
- rough terrain
- walking robot
- legged robots
- humanoid robot
- control strategy
- biped robot
- control method
- control system
- adaptive control
- robot motion
- control signals
- sagittal plane
- control architecture
- motion control
- autonomous robots
- motor control
- physical constraints
- biologically inspired
- network architecture
- neural fuzzy
- complex environments
- robot behavior
- neural network
- degrees of freedom
- changing environment
- disturbance rejection
- adaptive behavior
- sensory motor
- inverted pendulum
- robotic arm