Multi-gait Locomotion Planning and Tracking for Tendon-actuated Terrestrial Soft Robot (TerreSoRo).
Arun Niddish MahendranCaitlin FreemanAlexander H. ChangMichael McDougallPatricio A. VelaVishesh VikasPublished in: CoRR (2023)
Keyphrases
- legged robots
- force control
- mobile robot
- legged locomotion
- quadruped robot
- robot manipulators
- motion planning
- degrees of freedom
- rough terrain
- joint angles
- motion tracking
- control strategy
- robotic systems
- robot motion
- human gait
- real time
- robot control
- biped robot
- robot moves
- particle filter
- control law
- closed loop
- human movement
- inverted pendulum
- collision free
- humanoid robot
- appearance model
- human body
- contact force
- mobile robot localization
- gait recognition
- autonomous robots
- path planning
- central pattern generator
- robot arm
- world model
- outdoor environments
- autonomous navigation
- control scheme
- object tracking
- robot soccer
- limit cycle
- visual servoing
- human walking
- position and orientation
- robot teams
- kalman filter
- reinforcement learning