Controllability and Stability Analysis of Planar Snake Robot Locomotion.
Pål LiljebäckKristin Ytterstad PettersenØyvind StavdahlJan Tommy GravdahlPublished in: IEEE Trans. Autom. Control. (2011)
Keyphrases
- stability analysis
- mobile robot
- stability margin
- robotic systems
- rough terrain
- legged robots
- robot control
- central pattern generator
- robot moves
- nonlinear systems
- robot motion
- autonomous robots
- humanoid robot
- legged locomotion
- vision system
- gravitational search algorithm
- degrees of freedom
- quadruped robot
- sliding mode
- path planning
- active contours
- multi robot
- multi objective
- reinforcement learning
- dynamic environments
- learning algorithm
- fault tolerant control
- clustering algorithm