Travelling wave locomotion of a tensegrity robotic snake based on self-excitation controllers.
Xin LiJingfeng HeAlexandre PittiPublished in: BioRob (2022)
Keyphrases
- robotic systems
- mobile robot
- legged robots
- active contours
- robot motion
- robot control
- control system
- control loop
- real time
- active contour model
- control strategy
- human operators
- wave propagation
- degrees of freedom
- object manipulation
- real robot
- contact force
- reinforcement learning
- autonomous robots
- control points
- controller design
- robotic manipulator
- coarse to fine
- deformable contour
- position control
- control strategies
- evolutionary robotics
- b spline
- segmentation method
- rough terrain
- vision system
- sea surface
- adaptive control
- controller synthesis
- energy function
- imitation learning
- snake model
- energy minimization
- manipulation tasks
- control scheme