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An Optimization-Based Locomotion Controller for Quadruped Robots Leveraging Cartesian Impedance Control.

Guiyang XinWouter WolfslagHsiu-Chin LinCarlo TiseoMichael N. Mistry
Published in: Frontiers Robotics AI (2020)
Keyphrases
  • quadruped robot
  • impedance control
  • legged robots
  • manipulation tasks
  • rough terrain
  • robotic systems
  • mobile robot
  • force control
  • model free
  • optimal control
  • inverted pendulum
  • degrees of freedom
  • robot navigation