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Optimal impedance control based on body inertia for a hydraulically driven hexapod robot walking on uneven and extremely soft terrain.
Addie Irawan
Kenzo Nonami
Published in:
J. Field Robotics (2011)
Keyphrases
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legged robots
walking robot
mobile robot
impedance control
force control
humanoid robot
rough terrain
human body
manipulation tasks
optimal control
dynamic programming
real time
robot manipulators
computer vision
multi modal
control system
reinforcement learning
genetic algorithm
machine learning