Design and control of an under-actuated robot leg, using state feedback and impulse shaping.
Yunha KimValerio SalvucciYoichi HoriPublished in: ICAR (2013)
Keyphrases
- humanoid robot
- feedback loop
- open loop
- autonomous robots
- visual servoing
- sagittal plane
- quadruped robot
- robot manipulators
- human operators
- control method
- case study
- robot control
- real time
- intelligent control
- robotic systems
- design process
- state space
- motion control
- visual feedback
- assessment tool
- disturbance rejection
- control system
- walking robot