An adaptive locomotion controller for a hexapod robot: CPG, kinematics and force feedback.
Weihai ChenGuanjiao RenJianhua WangDong LiuPublished in: Sci. China Inf. Sci. (2014)
Keyphrases
- force feedback
- end effector
- legged robots
- degrees of freedom
- parallel manipulator
- contact force
- robot arm
- robot manipulators
- inverse kinematics
- visual servoing
- mobile robot
- force sensing
- virtual reality
- central pattern generator
- vision system
- quadruped robot
- haptic feedback
- inverted pendulum
- pose estimation
- robotic arm
- motion planning
- control law
- visual feedback
- control system
- robot control
- joint angles
- virtual environment
- configuration space
- position and orientation
- control algorithm
- robotic systems
- path planning
- control scheme
- pid controller