Cargando…

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...

Descripción completa

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

Ejemplares similares

A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots
por: Raiola, Gennaro, et al.
Publicado: (2020)

Variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains
por: Zhao, Xinyuan, et al.
Publicado: (2022)

The effect of tail stiffness on a sprawling quadruped locomotion
por: Buckley, Josh, et al.
Publicado: (2023)

Dynamic Turning of a Soft Quadruped Robot by Changing Phase Difference
por: Tanaka, Hiroaki, et al.
Publicado: (2021)

Versatile Locomotion Planning and Control for Humanoid Robots
por: Ahn, Junhyeok, et al.
Publicado: (2021)

Design Optimization for Rough Terrain Traversal Using a Compliant, Continuum-Joint, Quadruped Robot
por: Sherrod , Vallan, et al.
Publicado: (2022)

Oncilla Robot: A Versatile Open-Source Quadruped Research Robot With Compliant Pantograph Legs
por: Spröwitz, Alexander T., et al.
Publicado: (2018)

Control of Thruster-Assisted, Bipedal Legged Locomotion of the Harpy Robot
por: Dangol, Pravin, et al.
Publicado: (2021)

AQuRo: A Cat-like Adaptive Quadruped Robot With Novel Bio-Inspired Capabilities
por: Saputra, Azhar Aulia, et al.
Publicado: (2021)

An online learning algorithm for adapting leg stiffness and stride angle for efficient quadruped robot trotting
por: Aboufazeli, Mahtab, et al.
Publicado: (2023)

Simulative Evaluation of a Joint-Cartesian Hybrid Motion Mapping for Robot Hands Based on Spatial In-Hand Information
por: Meattini, Roberto, et al.
Publicado: (2022)

Fast and Slow Adaptations of Interlimb Coordination via Reflex and Learning During Split-Belt Treadmill Walking of a Quadruped Robot
por: Aoi, Shinya, et al.
Publicado: (2021)

An Overview on Principles for Energy Efficient Robot Locomotion
por: Kashiri, Navvab, et al.
Publicado: (2018)

High-speed running quadruped robot with a multi-joint spine adopting a 1DoF closed-loop linkage
por: Matsumoto, Ojiro, et al.
Publicado: (2023)

Characterization of the Growing From the Tip as Robot Locomotion Strategy
por: Del Dottore, Emanuela, et al.
Publicado: (2019)

Benchmarking the HRP-2 Humanoid Robot During Locomotion
por: Stasse, Olivier, et al.
Publicado: (2018)

Compact Shape Morphing Tensegrity Robots Capable of Locomotion
por: Rhodes, Tyler, et al.
Publicado: (2019)

Robotic Impedance Learning for Robot-Assisted Physical Training
por: Li, Yanan, et al.
Publicado: (2019)

Expect the Unexpected: Leveraging the Human-Robot Ecosystem to Handle Unexpected Robot Failures
por: Honig, Shanee, et al.
Publicado: (2021)

Leveraging Geometry to Enable High-Strength Continuum Robots
por: Childs, Jake A., et al.
Publicado: (2021)

An Adaptive Iterative Learning Based Impedance Control for Robot-Aided Upper-Limb Passive Rehabilitation
por: Ting, Wang, et al.
Publicado: (2019)

Yoshimura-origami Based Earthworm-like Robot With 3-dimensional Locomotion Capability
por: Zhang, Qiwei, et al.
Publicado: (2021)

Leveraging Human Perception in Robot Grasping and Manipulation Through Crowdsourcing and Gamification
por: Gorjup, Gal, et al.
Publicado: (2021)

A Comparative Study of Adaptive Interlimb Coordination Mechanisms for Self-Organized Robot Locomotion
por: Sun, Tao, et al.
Publicado: (2021)

Locomotion characteristics of a wheeled vibration-driven robot with an enhanced pantograph-type suspension
por: Korendiy, Vitaliy, et al.
Publicado: (2023)

Corrigendum: [A Comparative Study of Adaptive Interlimb Coordination Mechanisms for Self-Organized Robot Locomotion]
por: Sun, Tao, et al.
Publicado: (2021)

Configuration-Dependent Optimal Impedance Control of an Upper Extremity Stroke Rehabilitation Manipulandum
por: Ghannadi, Borna, et al.
Publicado: (2018)

Variable Impedance Control and Learning—A Review
por: Abu-Dakka, Fares J., et al.
Publicado: (2020)

Handover Control for Human-Robot and Robot-Robot Collaboration
por: Costanzo, Marco, et al.
Publicado: (2021)

Learning hybrid locomotion skills—Learn to exploit residual actions and modulate model-based gait control
por: Kasaei, Mohammadreza, et al.
Publicado: (2023)

Maneuvering on non-Newtonian fluidic terrain: a survey of animal and bio-inspired robot locomotion techniques on soft yielding grounds
por: Godon, Simon, et al.
Publicado: (2023)

Optimization-Based Controllers for Robotics Applications (OCRA): The Case of iCub’s Whole-Body Control
por: Eljaik, Jorhabib G., et al.
Publicado: (2018)

Integrative Biomimetics of Autonomous Hexapedal Locomotion
por: Dürr, Volker, et al.
Publicado: (2019)

Editorial: Bio-inspired soft locomotion
por: Ozcan, Onur, et al.
Publicado: (2023)

Design and Integration of Electrical Bio-impedance Sensing in Surgical Robotic Tools for Tissue Identification and Display
por: Cheng, Zhuoqi, et al.
Publicado: (2019)

Assisting Operators in Heavy Industrial Tasks: On the Design of an Optimized Cooperative Impedance Fuzzy-Controller With Embedded Safety Rules
por: Roveda, Loris, et al.
Publicado: (2019)

An Adaptive and Hybrid End-Point/Joint Impedance Controller for Lower Limb Exoskeletons
por: Maggioni, Serena, et al.
Publicado: (2018)

A hybrid controller method with genetic algorithm optimization to measure position and angular for mobile robot motion control
por: Razali, Muhammad Razmi, et al.
Publicado: (2023)

Model-free reinforcement learning for robust locomotion using demonstrations from trajectory optimization
por: Bogdanovic, Miroslav, et al.
Publicado: (2022)

Editorial: Advances in Modeling and Control of Soft Robots
por: Monje Micharet, Concepción Alicia, et al.
Publicado: (2021)

Cannot write session to /tmp/vufind_sessions/sess_bpqebv8dclcb6fjefbmhc10os4