Interconnection and Damping Assignment Passivity-Based Control for Gait Generation in Underactuated Compass-Like Robots.
Pierluigi ArpentiFabio RuggieroVincenzo LippielloPublished in: ICRA (2020)
Keyphrases
- legged robots
- quadruped robot
- mechanical systems
- control strategy
- receding horizon
- robot control
- biped robot
- robotic systems
- autonomous robots
- autonomous systems
- formation control
- mobile robot
- gait analysis
- cooperative
- open loop
- industrial robots
- control system
- closed loop
- motion control
- multi robot
- robot behavior
- sliding mode
- impedance control
- operating conditions
- dynamic model
- control algorithm
- control method
- inverted pendulum
- gait recognition
- human gait
- distributed control
- human movement
- adaptive control
- feedback control