An Optimization-Based Locomotion Controller for Quadruped Robots Leveraging Cartesian Impedance Control

Quadruped robots require compliance to handle unexpected external forces, such as impulsive contact forces from rough terrain, or from physical human-robot interaction. This paper presents a locomotion controller using Cartesian impedance control to coordinate tracking performance and desired compli...

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Bibliografiske detaljer
Udgivet i:Front Robot AI
Main Authors: Xin, Guiyang, Wolfslag, Wouter, Lin, Hsiu-Chin, Tiseo, Carlo, Mistry, Michael
Format: Artigo
Sprog:Inglês
Udgivet: Frontiers Media S.A. 2020
Fag:
Robotics and AI
Online adgang:https://ncbi.nlm.nih.gov/pmc/articles/PMC7805892/
https://ncbi.nlm.nih.gov/pubmed/33501216
https://ncbi.nlm.nih.govhttp://dx.doi.org/10.3389/frobt.2020.00048
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