Control of foot placement, forward velocity and body orientation of a one-legged hopping robot.
Jimmy VermeulenDirk LefeberBjörn VerrelstPublished in: Robotica (2003)
Keyphrases
- motion control
- legged robots
- mobile robot
- legged locomotion
- robot control
- autonomous robots
- control system
- rough terrain
- kinematic model
- position and orientation
- robotic systems
- robotic arm
- reference trajectory
- visual servoing
- humanoid robot
- robot manipulators
- control signals
- inverted pendulum
- disturbance rejection
- control architecture
- robot behavior
- walking robot
- end effector
- path planning
- human body
- vision system
- real time
- motor learning
- sagittal plane
- hand eye
- physical constraints
- joint angles
- autonomous navigation
- bi directional
- robot navigation
- human robot interaction
- closed loop
- visual feedback
- control loop
- master slave
- robot arm
- trajectory tracking
- adaptive control
- control method
- optical flow