Modelling and control of obstacle-aided snake robot locomotion based on jam resolution.
Pål LiljebäckKristin Ytterstad PettersenØyvind StavdahlPublished in: ICRA (2009)
Keyphrases
- mobile robot
- robot control
- robotic systems
- legged robots
- autonomous robots
- motion control
- visual servoing
- robot motion
- rough terrain
- obstacle avoidance
- quadruped robot
- multi robot
- legged locomotion
- path planning
- central pattern generator
- robot moves
- vision system
- robot navigation
- hand eye
- control architecture
- home environment
- robot manipulators
- control method
- control system
- control signals
- computer controlled
- formation control
- mobile robotics
- inverted pendulum
- autonomous navigation
- low resolution
- human robot interaction
- active contours
- end effector
- high resolution
- control strategy
- robot behavior
- active contour model
- control loop
- motion planning
- motor learning
- semi autonomous
- optimal control
- human operators
- robot teams
- dynamic environments
- level set
- real time