Simultaneous Gait Generation and Path Following Control of Snake Robot Using MPC.
Yichen LiangChao RenYongchen TangXiaohan LiShugen MaPublished in: ROBIO (2021)
Keyphrases
- biped robot
- legged robots
- obstacle avoidance
- robot control
- mobile robot
- autonomous robots
- visual servoing
- motion control
- robot manipulators
- robotic systems
- hand eye
- control architecture
- quadruped robot
- control system
- control signals
- control loop
- closed loop
- feedback control
- control strategy
- robotic arm
- human robot interaction
- home environment
- optimal control
- active contours
- end effector
- robotic manipulator
- vision system
- inverted pendulum
- humanoid robot
- biologically inspired
- adaptive control
- force feedback
- real time
- rough terrain
- walking robot
- motor learning
- robot behavior
- sagittal plane
- force control
- sensory motor
- human gait
- control scheme
- degrees of freedom
- master slave
- inverse kinematics
- multi robot
- position and orientation