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High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah.
Dong Jin Hyun
Sangok Seok
Jongwoo Lee
Sangbae Kim
Published in:
Int. J. Robotics Res. (2014)
Keyphrases
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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