Passivity Based Whole-body Control for Quadrupedal Locomotion on Challenging Terrain.

Shamel Fahmi Carlos Mastalli Michele Focchi Claudio Semini

Published in: CoRR (2018)

Keyphrases

legged robots
quadruped robot
inverted pendulum
mobile robot
rough terrain
legged locomotion
robotic systems
multiresolution
control system
real world
optimal control
humanoid robot
visual servoing
feedback control
contact force
wheeled mobile robots