Locomotion Control of Quadrupedal Robot With Passive Wheels Based on CoI Dynamics on SE(3).
Jiawei ChenKun XuRipeng QinXilun DingPublished in: IEEE Trans. Ind. Electron. (2024)
Keyphrases
- legged robots
- robot control
- robotic systems
- mobile robot
- inverted pendulum
- legged locomotion
- quadruped robot
- rough terrain
- kinematic model
- robot motion
- vision system
- central pattern generator
- motion control
- visual servoing
- robotic arm
- hand eye
- control system
- autonomous robots
- robotic manipulator
- control architecture
- initial conditions
- robot behavior
- wheel slip
- autonomous navigation
- visual feedback
- end effector
- control signals
- motor learning
- physical constraints
- control method
- humanoid robot
- air fuel ratio
- dynamic model