Embedding optimized trajectory and motor controller into the Szabad(ka)-II hexapod robot.
István KecskésÁkos OdryErvin BurkusPéter OdryPublished in: SMC (2016)
Keyphrases
- legged robots
- control system
- control signals
- trajectory tracking
- reference trajectory
- climbing robot
- mobile robot
- skill learning
- control architecture
- biped walking
- closed loop
- motion control
- stability margin
- dc motor
- neural network controller
- trajectory planning
- robotic manipulator
- inverted pendulum
- quadruped robot
- position control
- wheeled mobile robot
- central pattern generator
- robotic systems
- robot motion
- control scheme
- real time
- speed control
- obstacle avoidance
- biped robot
- motor learning
- vision system
- motor control
- kinematic model
- controller design
- control algorithm
- control loop
- robot manipulators
- position and orientation
- autonomous robots
- pid controller
- parallel manipulator
- control law
- control strategy
- degrees of freedom
- force control
- path planning
- control strategies
- fuzzy logic
- human robot interaction
- dynamic model
- physical constraints
- visual servoing
- robot arm
- configuration space
- multi robot
- control method
- desired trajectory
- contact force
- robot control
- nonlinear systems
- sensory information