A control structure for the locomotion of a legged robot on difficult terrain.
Enric CelayaJosep M. PortaPublished in: IEEE Robotics Autom. Mag. (1998)
Keyphrases
- legged robots
- control structure
- image interpretation
- quadruped robot
- mobile robot
- control structures
- image understanding
- stability margin
- inverted pendulum
- production system
- manufacturing systems
- rough terrain
- knowledge representation
- reactive planning
- state space
- computer vision
- multi class
- real robot
- control system