Body Velocity Estimation in a Leg-Wheel Transformable Robot without A Priori Knowledge of Leg-Wheel Ground Contacts.
Pei-Chun HuangI-Chia ChangWei-Shun YuPei-Chun LinPublished in: ICRA (2024)
Keyphrases
- knowledge based systems
- walking robot
- humanoid robot
- knowledge acquisition
- legged locomotion
- expert systems
- knowledge base
- joint angles
- knowledge representation
- wheel slip
- sagittal plane
- inverse dynamics
- biped robot
- human body
- mobile robot
- optical flow
- inverse kinematics
- degrees of freedom
- wheeled mobile robots
- human robot interaction
- domain knowledge
- robot manipulators
- inverted pendulum
- rough terrain
- prior knowledge
- quadruped robot
- knowledge management
- multi modal
- robot arm
- feedback loop
- human users
- domain experts
- dynamic model