Impedance and Force Compliant Control for Bipedal Robot Walking on Uneven Terrain.
Ren C. LuoSiang Jiang LinPublished in: SMC (2015)
Keyphrases
- walking robot
- legged robots
- position control
- humanoid robot
- inverted pendulum
- autonomous robots
- closed loop
- force control
- robotic manipulator
- rough terrain
- end effector
- mobile robot
- control scheme
- sagittal plane
- legged locomotion
- robot manipulators
- biped robot
- control system
- contact force
- impedance control
- robotic systems
- feedback control
- quadruped robot
- stability margin
- three dimensional
- lower extremity
- force feedback
- control strategy
- degrees of freedom
- walking speed
- robot arm
- feedback loop
- visual servoing
- motion control
- robot control
- control strategies
- force sensing
- hand eye
- reference trajectory
- multiresolution
- real time
- control method
- control architecture
- central pattern generator
- wheeled mobile robots
- tactile sensing
- robot behavior
- control loop
- sensory motor
- robot motion
- visual feedback
- path planning
- vision system