Gait transition by tuning muscle tones using pneumatic actuators in quadruped locomotion.
Katsuyoshi TsujitaToshiya KobayashiTakashi InouraTatsuya MasudaPublished in: IROS (2008)
Keyphrases
- quadruped robot
- legged robots
- degrees of freedom
- control system
- contact force
- force control
- rough terrain
- mathematical model
- motion planning
- inverted pendulum
- mobile robot
- pose estimation
- joint angles
- control algorithm
- intelligent control
- parameter settings
- autonomous navigation
- gait patterns
- path planning
- real time
- shape memory alloy
- electron micrographs
- parameter tuning
- control strategy
- closed loop
- d objects
- feature extraction