A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators.
Mattia RisiglioneVictor BarasuolDarwin G. CaldwellClaudio SeminiPublished in: IROS (2022)
Keyphrases
- feedback control
- adaptive control
- control law
- closed loop
- control method
- nonlinear systems
- optimal control
- template matching
- control system
- dynamic environments
- reinforcement learning
- real time
- computer graphics
- high quality
- high fidelity
- image synthesis
- ray tracing
- control algorithm
- d scene
- matching algorithm
- control theory
- input image
- control scheme
- humanoid robot
- control strategy
- path planning
- rendered images
- pid controller
- motion planning
- fuzzy controller
- graphics hardware
- dc motor
- parallel manipulator
- quadruped robot