Experimental verification of the walking and turning gaits for a two-actuated spoke wheel robot.
Dennis HongJ. Blake JeansPing RenPublished in: IROS (2009)
Keyphrases
- experimental verification
- legged robots
- humanoid robot
- walking speed
- limit cycle
- reference trajectory
- control law
- mobile robot
- closed loop
- motion planning
- inverted pendulum
- stability margin
- sagittal plane
- multi modal
- force control
- human robot interaction
- open loop
- control scheme
- biped walking
- legged locomotion
- walking robot
- human gait
- robotic systems
- wheel slip
- quadruped robot
- steady state
- human robot
- real robot
- simulation study
- contact force
- neural model
- autonomous robots
- control system
- robot manipulators
- initial conditions
- central pattern generator
- gait recognition