Smooth Stride Length Change of Rat Robot with a Compliant Actuated Spine Based on CPG Controller.
Yuhong HuangZhenshan BingZitao ZhangKai HuangFabrice O. MorinAlois KnollPublished in: IROS (2023)
Keyphrases
- force control
- control law
- closed loop
- control scheme
- mobile robot
- open loop
- control architecture
- robot manipulators
- motion control
- control system
- robot arm
- position tracking
- visual servoing
- robotic manipulator
- trajectory tracking
- real time
- biped walking
- autonomous robots
- inverted pendulum
- human robot interaction
- path planning
- control signals
- robotic systems
- control strategy
- robot navigation
- spinal cord
- biped robot
- contact force
- adaptive control
- control algorithm
- controller design
- robot control
- optimal control
- dynamic model
- variable structure
- position and orientation
- x ray
- control loop
- tracking error
- service robots
- end effector
- multi robot
- humanoid robot
- feedback control
- changing environment
- nonlinear systems