The body impedance control for walking stabilization of a quadrupedal robot.
Soo-Yeong YiYeh-Sun HongChong-Won LeePublished in: CIRA (1999)
Keyphrases
- impedance control
- legged robots
- manipulation tasks
- force control
- humanoid robot
- walking robot
- robot manipulators
- mobile robot
- central pattern generator
- human robot interaction
- robot navigation
- motion planning
- human body
- position control
- robotic systems
- multi modal
- closed loop
- contact force
- inverted pendulum
- vision system
- control strategy
- robot control
- robot arm
- biologically inspired
- path planning
- autonomous robots
- joint angles
- end effector
- human motion
- model free
- multi robot
- motion capture
- control scheme