Compliant quadruped locomotion over rough terrain

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Volumn , Issue , 2009, Pages 814-820

  Buchli, Jonas ^a   Kalakrishnan, Mrinal ^a   Mistry, Michael ^a   Pastor, Peter ^a   Schaal, Stefan ^a  

^a UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

BALANCE CONTROL; CONTROL PHASE; CRITICAL ELEMENTS; ERROR PRONES; FEEDBACK GAIN; FOOT PLACEMENTS; GROUND SPEED; HIGH GAIN; HUMANOID ROBOT; INVERSE DYNAMICS CONTROL; LEG LENGTH; LEGGED LOCOMOTION; LEGGED ROBOTS; LOW SPEED; MODEL-BASED CONTROL; PASSIVE DYNAMIC WALKER; POSSIBLE SOLUTIONS; QUADRUPED LOCOMOTION; RECOVERY STRATEGIES; REFERENCE TRAJECTORIES; ROUGH TERRAINS; SIMPLER ALGORITHMS; STABLE WALKING; SUPPORT POLYGON;

ANTHROPOMORPHIC ROBOTS; BIPED LOCOMOTION; COST REDUCTION; INTELLIGENT ROBOTS; LANDFORMS; PLANNING; ROBOTICS; ROBUSTNESS (CONTROL SYSTEMS); STABILITY CRITERIA;

CONTROLLERS;

EID: 76249106000     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2009.5354681     Document Type: Conference Paper

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