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High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah.

Dong Jin HyunSangok SeokJongwoo LeeSangbae Kim
Published in: Int. J. Robotics Res. (2014)
Keyphrases
  • impedance control
  • high speed
  • force control
  • optimal control
  • model free
  • real time
  • control strategy
  • closed loop
  • neural network
  • control method
  • control system
  • autonomous agents
  • manipulation tasks