A Mechanical Leg Compliant Control Scheme for Underwater Crawling-Swimming Robot.
Liwei GuoWeidong LiuLe LiJia GuoYu WuJingming XuPublished in: RICAI (2023)
Keyphrases
- control scheme
- robot manipulators
- control strategy
- biped robot
- robotic manipulator
- closed loop
- walking robot
- control loop
- humanoid robot
- force control
- position control
- limit cycle
- control system
- control architecture
- control law
- dynamic model
- operating conditions
- mobile robot
- fuzzy controller
- disturbance rejection
- control method
- predictive control
- controller design
- inverse kinematics
- control algorithm
- neural model
- neural network controller
- visual servoing
- pid controller
- trajectory tracking
- control strategies
- end effector
- vision system
- path planning
- autonomous robots
- sliding mode control
- sliding mode
- robotic systems
- inverted pendulum
- neural network
- induction motor
- adaptive neural control
- robot control
- feedback control
- autonomous underwater vehicles