Velocity-Based Gait Planning for Underactuated Bipedal Robot on Uneven and Compliant Terrain.
Daojin YaoLin YangXiaohui XiaoMengChu ZhouPublished in: IEEE Trans. Ind. Electron. (2022)
Keyphrases
- motion planning
- humanoid robot
- rough terrain
- legged robots
- quadruped robot
- walking speed
- mobile robot
- kinematic model
- configuration space
- motion capture
- joint angles
- robot arm
- autonomous robots
- mechanical systems
- inverse kinematics
- inverted pendulum
- collision free
- human robot interaction
- path planning
- multi modal
- gait patterns
- degrees of freedom
- robotic arm
- control law
- biped robot
- real robot
- optical flow
- multi robot
- human gait
- multiresolution
- navigation tasks
- action selection mechanism
- walking robot
- multiple robots
- gait analysis
- robot navigation
- goal directed
- robotic systems
- human motion
- planning problems
- heuristic search
- three dimensional
- contact force
- feedback control
- action selection
- gait recognition