A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators.
Mattia RisiglioneVictor BarasuolDarwin G. CaldwellClaudio SeminiPublished in: CoRR (2022)
Keyphrases
- adaptive control
- quadruped robot
- control law
- real time
- control system
- template matching
- computer graphics
- legged robots
- control architecture
- robotic systems
- high fidelity
- closed loop
- path planning
- control theory
- control strategy
- control algorithm
- control method
- nonlinear systems
- rough terrain
- controller design
- image based rendering
- contact force
- dynamic environments
- high quality
- photorealistic
- parallel manipulator
- fuzzy controller
- matching algorithm
- d scene
- control scheme
- operating conditions
- humanoid robot
- input image
- image based modeling
- dc motor
- ray tracing
- graphics hardware
- feedback control
- optimal control
- image synthesis
- fuzzy logic controller
- volume rendering
- particle swarm optimization
- degrees of freedom
- multi view
- real time rendering
- mobile robot