3D trajectory synthesis and control for a legged swimming robot.
David MegerFlorian ShkurtiDavid Cortés PozaPhilippe GiguèreGregory DudekPublished in: IROS (2014)
Keyphrases
- motion control
- legged robots
- mobile robot
- legged locomotion
- robot control
- robotic systems
- autonomous robots
- rough terrain
- kinematic model
- robot manipulators
- visual servoing
- control system
- robot motion
- hand eye
- inverted pendulum
- trajectory tracking
- human robot interaction
- humanoid robot
- control signals
- home environment
- physical constraints
- disturbance rejection
- reference trajectory
- robot teams
- robotic arm
- end effector
- computer controlled
- walking robot
- trajectory planning
- autonomous navigation
- robot navigation
- robot behavior
- control architecture
- sagittal plane
- control algorithm
- control method
- formation control
- human operators
- intelligent control
- configuration space
- real time
- control law
- control loop
- collision free
- control strategy
- path planning
- robotic manipulator