A hierarchical connectionist CPG controller for controlling the snake-like robot's 3-dimensional gaits.
Guizhi YangShugen MaBin LiMinghui WangPublished in: IROS (2012)
Keyphrases
- legged robots
- quadruped robot
- walking speed
- humanoid robot
- reference trajectory
- rough terrain
- sagittal plane
- robotic systems
- control architecture
- mobile robot
- neural network
- motion control
- closed loop
- neural network controller
- biped walking
- inverted pendulum
- control scheme
- feedback controller
- coarse to fine
- stability margin
- real time
- control system
- active contours
- robotic manipulator
- wheeled mobile robot
- configuration space
- control law
- central pattern generator
- controller design
- robot manipulators
- real robot
- autonomous robots
- motion planning
- dynamic response
- control method
- control algorithm
- biped robot
- expert systems
- control signals
- force control
- active contour model
- numerical simulations
- control strategy
- image segmentation
- three dimensional
- mechanical systems
- path planning
- visual servoing
- initial conditions
- multi robot