Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrains.
Despina Ekaterini ArgiropoulosDimitrios PapageorgiouMichael MaravgakisDrosakis DrosakisPanos E. TrahaniasPublished in: Humanoids (2023)
Keyphrases
- trajectory tracking
- physical constraints
- quadruped robot
- closed loop
- control system
- bi directional
- dynamic model
- iterative learning control
- control method
- control law
- iterative learning
- neural network controller
- legged robots
- adaptive control
- visual servoing
- mobile robot
- sliding mode
- rough terrain
- nonlinear systems
- pid controller
- control scheme
- adaptive neural
- tracking error
- control algorithm
- adaptive fuzzy
- robotic systems
- multi robot
- neural network structure
- robot manipulators
- feedback control
- autonomous robots
- video sequences