Stable control of a simulated one-legged running robot with hip and leg compliance.
Mojtaba AhmadiMartin BuehlerPublished in: IEEE Trans. Robotics Autom. (1997)
Keyphrases
- legged locomotion
- walking robot
- rough terrain
- motion control
- humanoid robot
- legged robots
- quadruped robot
- inverted pendulum
- disturbance rejection
- mobile robot
- biped robot
- robot control
- autonomous robots
- sagittal plane
- real robot
- robotic systems
- control strategy
- robot manipulators
- control system
- robot behavior
- feedback control
- control method
- hand eye
- obstacle avoidance
- visual servoing
- motion planning
- robot navigation
- control architecture
- walking speed
- gait patterns
- lower extremity
- simulation study
- simulated robot
- robotic arm
- feedback loop
- formation control
- closed loop
- motor learning
- multi modal
- vision system
- physical constraints
- end effector