A control structure for the locomotion of a legged robot on difficult terrain.

Enric Celaya Josep M. Porta

Published 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