Motion planning and contact force distribution for heavy-duty hexapod robots walking on unknown rugged terrains.
Liang DingXiao GongLei HuGuanyu WangZhongxi ShaoHuaiguang YangHaibo GaoZongquan DengPublished in: J. Field Robotics (2024)
Keyphrases
- motion planning
- humanoid robot
- legged robots
- contact force
- mobile robot
- multi robot
- manipulation tasks
- trajectory planning
- degrees of freedom
- collision free
- robot arm
- path planning
- rough terrain
- multi modal
- human robot interaction
- master slave
- inverse kinematics
- robotic tasks
- finite element analysis
- robotic arm
- force feedback
- control law
- autonomous robots
- finite element model
- real robot
- human motion
- experimental data