Implementation and stability analysis of prioritized whole-body compliant controllers on a wheeled humanoid robot in uneven terrains

Autonomous Robots

Volumn 35, Issue 4, 2013, Pages 301-319

  Sentis, Luis ^a   Petersen, Josh ^a   Philippsen, Roland ^b  

^a UNIVERSITY OF TEXAS AT AUSTIN   (United States)

^b HALMSTAD UNIVERSITY   (Sweden)

Author keywords

Prioritized whole body compliant control; Uneven terrain mobility; Wheeled humanoid robot

Indexed keywords

ASYMPTOTICALLY STABLE; CONTROL STRUCTURE; HUMANOID ROBOT; ROLLING CONSTRAINT; SIX DEGREE-OF-FREEDOM; STABILITY ANALYSIS; UNEVEN TERRAIN; WHOLE-BODY;

ANTHROPOMORPHIC ROBOTS; ROBOTICS;

HARDWARE;

EID: 84883559523     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1007/s10514-013-9358-8     Document Type: Conference Paper

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