Descending stairs locomotion and somatosensory control for an erect wheel-legged service robot.
Ren C. LuoMing HsiaoChe-Wei LiuPublished in: ICRA (2014)
Keyphrases
- legged locomotion
- legged robots
- service robots
- rough terrain
- motion control
- home environment
- robotic systems
- robot control
- humanoid robot
- human robot interaction
- control method
- inverted pendulum
- mobile robot
- quadruped robot
- wheeled mobile robots
- control theory
- control system
- feedback control
- disturbance rejection
- data sets
- hidden markov models
- computer vision