Animal Gaits on Quadrupedal Robots Using Motion Matching and Model-Based Control.
Dongho KangSimon ZimmermannStelian CorosPublished in: IROS (2021)
Keyphrases
- legged robots
- quadruped robot
- sagittal plane
- inverted pendulum
- mobile robot
- humanoid robot
- robotic systems
- motion control
- robot motion
- rough terrain
- space time
- three dimensional
- mechanical systems
- motion planning
- motion analysis
- feature points
- matching algorithm
- control signals
- optical flow
- autonomous robots
- motion estimation
- autonomous systems
- human motion
- motion model
- high degree of freedom
- moving objects
- robot control
- control system
- motion capture
- image matching
- computer vision