Stable Motion Control Scheme Based on Foot-Force Distribution for a Large-Scale Hexapod Robot.
Chen ChenWei GuoPenglong ZhengFusheng ZhaXin WangZhenyu JiangPublished in: ICARM (2019)
Keyphrases
- control scheme
- robot manipulators
- end effector
- position control
- robotic manipulator
- inverse kinematics
- force control
- control law
- parallel manipulator
- dynamic model
- closed loop
- control loop
- human arm
- control strategy
- control system
- sagittal plane
- degrees of freedom
- predictive control
- visual servoing
- force feedback
- pid controller
- tracking error
- robotic arm
- humanoid robot
- fuzzy controller
- controller design
- vision system
- motion planning
- robotic systems
- legged robots
- image sequences
- mobile robot
- path planning
- robot arm
- neural network controller
- sliding mode
- sliding mode control
- control architecture
- configuration space
- camera motion
- neural network
- real time
- autonomous robots
- optimal control
- trajectory tracking
- human motion
- pose estimation