Multi-Gait Locomotion Planning and Tracking for Tendon-Actuated Terrestrial Soft Robot (TerreSoRo).
Arun Niddish MahendranCaitlin FreemanAlexander H. ChangMichael McDougallPatricio A. VelaVishesh VikasPublished in: IROS (2023)
Keyphrases
- legged robots
- force control
- mobile robot
- legged locomotion
- quadruped robot
- robot manipulators
- rough terrain
- motion planning
- joint angles
- robotic systems
- degrees of freedom
- robot motion
- motion tracking
- robot control
- closed loop
- biped robot
- central pattern generator
- real time
- mobile robot localization
- control law
- end effector
- control strategy
- robot moves
- human gait
- particle filter
- robot arm
- humanoid robot
- goal directed
- path planning
- limit cycle
- contact force
- gait recognition
- object tracking
- motion analysis
- upper body
- human movement
- autonomous navigation
- real robot
- human robot interaction
- multi robot
- robot behavior
- kalman filter
- world model
- motion capture
- walking speed
- human body