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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Detalles Bibliográficos
Autores principales: Xin, Guiyang, Wolfslag, Wouter, Lin, Hsiu-Chin, Tiseo, Carlo, Mistry, Michael
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2020
Materias:
Robotics and AI
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805892/
https://www.ncbi.nlm.nih.gov/pubmed/33501216
http://dx.doi.org/10.3389/frobt.2020.00048

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805892/
https://www.ncbi.nlm.nih.gov/pubmed/33501216
http://dx.doi.org/10.3389/frobt.2020.00048

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