Adaptation of a Decentralized Controller to Curve Walking in a Hexapod Robot.
Janneke SimmeringLuca HermesAxel SchneiderMalte SchillingPublished in: CLAWAR (2022)
Keyphrases
- legged robots
- biped walking
- central pattern generator
- inverted pendulum
- mobile robot
- stability margin
- biped robot
- quadruped robot
- multi agent
- feedback control
- distributed systems
- multi robot systems
- cooperative
- real time
- b spline
- robotic manipulator
- contact force
- real robot
- walking speed
- humanoid robot
- control algorithm
- simulation study