Snake-like robot driven by decentralized control scheme for scaffold-based locomotion.
Takahide SatoTakeshi KanoRyo KobayashiAkio IshiguroPublished in: IROS (2012)
Keyphrases
- control scheme
- robot manipulators
- mobile robot
- robotic manipulator
- robot control
- robotic systems
- control loop
- rough terrain
- closed loop
- dynamic model
- control system
- control strategy
- pid controller
- legged robots
- central pattern generator
- position control
- robot moves
- control law
- predictive control
- force control
- inverse kinematics
- fuzzy controller
- controller design
- end effector
- visual servoing
- vision system
- humanoid robot
- control architecture
- autonomous robots
- multi robot
- trajectory tracking
- real robot
- sliding mode control
- induction motor
- neural network controller
- tracking error
- sliding mode
- adaptive neural control
- robot arm
- position and orientation
- degrees of freedom
- mathematical model
- fuzzy logic
- robotic arm
- intelligent control
- control strategies
- control algorithm
- path planning
- experimental data
- external disturbances
- human arm
- fault tolerant control
- pi control
- real time