Robust backstepping control of an underactuated one-legged hopping robot in stance phase.
Guangping HeZhiyong GengPublished in: Robotica (2010)
Keyphrases
- motion control
- legged locomotion
- mobile robot
- legged robots
- control strategy
- robotic systems
- receding horizon
- mechanical systems
- robot control
- autonomous robots
- humanoid robot
- rough terrain
- hand eye
- control system
- motion planning
- inverted pendulum
- formation control
- disturbance rejection
- robot manipulators
- autonomous navigation
- visual servoing
- control law
- nonlinear systems
- real time
- closed loop
- robotic arm
- walking robot
- wheeled mobile robot
- control signals
- modular robots
- home environment
- control architecture
- adaptive control
- control method
- dynamic environments
- vision system
- robot motion
- real robot
- robot behavior
- motor learning
- end effector
- controller design