Path following controller for planar robots with articulated, actuated and independently steerable velocity-limited wheels.
Ville PitkänenAntti TikanmäkiAnssi KemppainenJuha RöningPublished in: ICRA (2017)
Keyphrases
- motion control
- kinematic model
- control law
- control scheme
- control system
- mobile robot
- position tracking
- autonomous robots
- open loop
- real time
- parallel manipulator
- force control
- robotic systems
- reference trajectory
- straight line
- closed loop
- primal dual
- cooperative
- angular velocity
- quadruped robot
- adaptive control
- pid controller
- control algorithm
- multi robot
- body parts
- neural network
- obstacle avoidance
- articulated objects
- limit cycle
- dynamical systems
- linear programming