Experimental verification of soft-robot gaits evolved using a lumped dynamic model.
Frank SaundersEthan GoldenRobert D. WhiteJason H. RifePublished in: Robotica (2011)
Keyphrases
- dynamic model
- experimental verification
- robot manipulators
- sagittal plane
- legged robots
- humanoid robot
- trajectory tracking
- mobile robot
- robotic systems
- control scheme
- experimental data
- walking speed
- quadruped robot
- inverse kinematics
- reference trajectory
- vision system
- mechanical systems
- differential equations
- autonomous robots
- multi robot
- reduced order model
- path planning
- multiple models
- sliding mode
- parallel manipulator
- parameter estimates
- real robot
- sliding mode control
- robot behavior
- position and orientation
- motion planning