Kinematics, dynamics and control of a hybrid robot Wheeleg.

Michele Lacagnina Giovanni Muscato Rosario Sinatra

Published in: Robotics Auton. Syst. (2003)

Keyphrases

home environment
service robots
inverse kinematics
dynamical systems
dynamic model
highly nonlinear
control method
end effector
robot arm
kinematic model
robotic arm
motion control
physical constraints
vision system
human robot interaction
position and orientation
optimal control
closed loop
pose estimation