Joint Torque Estimation toward Dynamic and Compliant Control for Gear-Driven Torque Sensorless Quadruped Robot.
Bingchen JinCaiming SunAidong ZhangNing DingJing LinGanyu DengZuwen ZhuZhenglong SunPublished in: IROS (2019)
Keyphrases
- control algorithm
- quadruped robot
- induction motor
- control strategy
- control system
- control method
- position control
- control scheme
- inverted pendulum
- legged robots
- rough terrain
- control strategies
- fuzzy logic controller
- dynamic model
- dynamic environments
- closed loop
- mathematical model
- fuzzy controller
- control law
- fuzzy logic
- mobile robot