A Novel Dynamic Locomotion Control Method for Quadruped Robots Running on Rough Terrains

Quadruped robots have excellent application prospects whereas the locomotion control of them on rough terrains is still a challenging problem, especially for those of large scales. The existing methods are either too complicated or lack of accuracies due to assumptions used. This paper presents a no...

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Detalles Bibliográficos

Principais autores:	Chao Ding, Lelai Zhou, Yibin Li, Xuewen Rong
Formato:	Artigo
Idioma:	Inglês
Publicado:	IEEE 2020-01-01
Series:	IEEE Access
Assuntos:	Model predictive control quadratic optimization quadruped robots terrain adaptation virtual model control
Acceso en liña:	https://ieeexplore.ieee.org/document/9166497/
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