Quadratic programming-based inverse dynamics control for legged robots with sticking and slipping frictional contacts.
Samuel ZapolskyEvan M. DrumwrightPublished in: IROS (2014)
Keyphrases
- quadratic programming
- legged robots
- legged locomotion
- inverse dynamics
- inverted pendulum
- nonlinear systems
- linear programming
- control system
- control method
- parallel manipulator
- ls svm
- adaptive control
- humanoid robot
- artificial intelligence
- intelligent control
- feedback control
- particle swarm optimization
- support vector machine
- rough terrain
- mobile robot
- pattern recognition
- robotic systems
- fuzzy model