Gaits-transferable CPG controller for a snake-like robot.
Zhenli LuShugen MaBin LiYuechao WangPublished in: Sci. China Ser. F Inf. Sci. (2008)
Keyphrases
- legged robots
- quadruped robot
- walking speed
- reference trajectory
- humanoid robot
- sagittal plane
- rough terrain
- inverted pendulum
- mobile robot
- biped walking
- control architecture
- closed loop
- neural network controller
- robotic systems
- stability margin
- control law
- active contours
- biped robot
- robotic manipulator
- control algorithm
- motion control
- path planning
- force control
- active contour model
- autonomous robots
- motion planning
- visual servoing
- robot manipulators
- b spline
- real time
- trajectory tracking
- liquid state machine
- control signals
- real robot
- initial conditions
- nonlinear systems
- adaptive control
- pid controller
- control scheme
- control strategy
- human motion
- numerical simulations
- vision system