CPG-MPC controller for wheel-fin-flipper integrated amphibious robot.
Yue QiaoWang WeiYunxiang LiShengzui XuLang WeiXu HaoRe XiaPublished in: Ind. Robot (2023)
Keyphrases
- closed loop
- control architecture
- motion control
- mobile robot
- trajectory tracking
- control system
- biped walking
- dynamic model
- force control
- robot manipulators
- robotic manipulator
- human robot interaction
- control loop
- control signals
- biped robot
- real time
- wheel slip
- autonomous robots
- control scheme
- optimal control
- robotic systems
- robot navigation
- control law
- wheeled mobile robots
- feedback control
- vision system
- pid controller
- linear quadratic
- central pattern generator
- reference trajectory
- path planning
- multi robot
- inverse kinematics
- robot control
- liquid state machine
- neural network
- quadruped robot
- control algorithm
- control strategies