Joint Space Position/Torque Hybrid Control of the Quadruped Robot for Locomotion and Push Reaction.
Okkee SimHyobin JeongJaesung OhMoonyoung LeeKang Kyu LeeHae-Won ParkJun-Ho OhPublished in: ICRA (2020)
Keyphrases
- quadruped robot
- joint space
- end effector
- degrees of freedom
- rough terrain
- humanoid robot
- position control
- legged robots
- visual servoing
- robot arm
- multi modal
- force feedback
- vision system
- mobile robot
- motion planning
- robot manipulators
- inverse kinematics
- configuration space
- inverted pendulum
- position and orientation
- real time
- control algorithm
- dynamic environments
- fuzzy logic
- video sequences