Impedance control of quadruped robot and its impedance characteristic modulation for trotting on irregular terrain.

Jaehwan Park Jong Hyeon Park

Published in: IROS (2012)

Keyphrases

quadruped robot
impedance control
rough terrain
position control
force control
optimal control
control scheme
legged robots
three dimensional
reinforcement learning
robotic manipulator
model free
robot arm
autonomous navigation
closed loop
control system
pid controller
video sequences