Online Gain Adaptation of Whole-Body Control for Legged Robots with Unknown Disturbances

This paper proposes an online gain adaptation approach to enhance the robustness of whole-body control (WBC) framework for legged robots under unknown external force disturbances. Without properly accounting for external forces, the closed-loop control system incorporating WBC may become unstable, a...

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Detalles Bibliográficos
Autores principales: Lee, Jaemin, Ahn, Junhyeok, Kim, Donghyun, Bang, Seung Hyeon, Sentis, Luis
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Robotics and AI
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8776656/
https://www.ncbi.nlm.nih.gov/pubmed/35071334
http://dx.doi.org/10.3389/frobt.2021.788902

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8776656/
https://www.ncbi.nlm.nih.gov/pubmed/35071334
http://dx.doi.org/10.3389/frobt.2021.788902

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