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A force threshold-based position controller for legged locomotion - Toward local leg feedback algorithms for robust walking on uneven terrain.
Mayur Palankar
Luther R. Palmer III
Published in:
Auton. Robots (2015)
Keyphrases
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legged locomotion
legged robots
rough terrain
walking robot
quadruped robot
real time
three dimensional
control system
humanoid robot
biped robot
learning algorithm
multi modal
closed loop
control algorithm
parameter tuning
feedback control