Locomotion control of a four-legged robot embedding real-time reasoning in the force distribution.
Luiz de Siqueira Martins-FilhoRoland PrajouxPublished in: Robotics Auton. Syst. (2000)
Keyphrases
- real time
- robot control
- robotic systems
- mobile robot
- robotic manipulator
- control signals
- legged robots
- force control
- visual feedback
- control system
- vision system
- end effector
- control loop
- visual servoing
- degrees of freedom
- sagittal plane
- force sensing
- robot motion
- autonomous robots
- force feedback
- autonomous vehicles
- quadruped robot
- robot manipulators
- position control
- motion control
- rough terrain
- control architecture
- central pattern generator
- legged locomotion
- robotic arm
- knowledge representation
- real time control
- control strategy
- knowledge base
- robot moves
- robot navigation
- search and rescue
- impedance control
- control center
- control scheme
- outdoor environments
- hand eye
- optimal control
- obstacle avoidance
- changing environment
- data acquisition
- real environment
- motion planning
- robot arm
- manipulation tasks
- control method
- control algorithm
- path planning
- probability distribution