Core Actuation Promotes Self-manipulability on a Direct-Drive Quadrupedal Robot.
Jeffrey DuperretBenjamin KramerDaniel E. KoditschekPublished in: ISER (2016)
Keyphrases
- direct drive
- robotic manipulator
- cnc machine tools
- robotic systems
- mobile robot
- degrees of freedom
- legged robots
- vision system
- human robot interaction
- position control
- humanoid robot
- mechanical design
- end effector
- joint space
- autonomous robots
- mathematical model
- motion planning
- configuration space
- robot manipulators
- mobile devices
- inverse kinematics
- visual servoing
- real robot