Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3.
Noriaki TakasugiMasaya KinoshitaYasuhisa KamikawaRyoichi TsuzakiAtsushi SakamotoToshimitsu KaiYasunori KawanamiPublished in: CoRR (2023)
Keyphrases
- motion control
- mobile robot
- control system
- legged robots
- real time
- inverted pendulum
- autonomous robots
- robot control
- path planning
- kinematic model
- physical constraints
- control algorithm
- autonomous navigation
- visual servoing
- intelligent control
- dynamic environments
- real robot
- multi robot
- robotic systems
- control strategy
- control method
- process control
- vision system
- motion planning
- fuzzy control
- rule base