Extended Capture Point and Optimization-based Control for Quadrupedal Robot Walking on Dynamic Rigid Surfaces.
Amir IqbalYan GuPublished in: CoRR (2021)
Keyphrases
- legged robots
- walking robot
- biped robot
- three dimensional
- mobile robot
- humanoid robot
- robotic systems
- robot control
- hand eye
- stability margin
- inverted pendulum
- lower extremity
- legged locomotion
- robotic arm
- visual servoing
- optimization algorithm
- optimization problems
- changing environment
- path planning
- motion control
- surface reconstruction
- dynamic environments
- central pattern generator
- control system
- surface points
- control signals
- force control
- control strategy
- reference trajectory