Posture Adjustment for a Wheel-Legged Robotic System Via Leg Force Control With Prescribed Transient Performance.
Dongchen LiuJunzheng WangDawei ShiHongwen HeHuaihang ZhengPublished in: IEEE Trans. Ind. Electron. (2023)
Keyphrases
- force control
- robotic systems
- disturbance rejection
- legged locomotion
- closed loop
- control architecture
- control strategy
- control law
- autonomous robots
- mobile robot
- control system
- inverted pendulum
- humanoid robot
- robot manipulators
- rough terrain
- steady state
- legged robots
- human body
- vision system
- control scheme
- pid controller
- multi robot
- impedance control
- fuzzy controller
- robot behavior
- human motion
- robotic manipulator
- manipulation tasks
- nonlinear systems
- optimal control
- motion planning
- contact force
- real robot
- real time
- mathematical model
- pose estimation
- genetic algorithm