Contact-force distribution optimization and control for quadruped robots using both gradient and adaptive neural networks

IEEE Transactions on Neural Networks and Learning Systems

Volumn 25, Issue 8, 2014, Pages 1460-1473

  Li, Zhijun ^a   Ge, Shuzhi Sam ^b,c   Liu, Sibang ^c  

^a SOUTH CHINA UNIVERSITY OF TECHNOLOGY   (China)

^b NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

^c UNIVERSITY OF ELECTRONIC SCIENCE AND TECHNOLOGY OF CHINA   (China)

Author keywords

External wrench; forces distribution; motion force control; quadruped robot

Indexed keywords

CONSTRAINT THEORY; MULTIPURPOSE ROBOTS; TOOLS;

ADAPTIVE NEURAL NETWORKS; DISTRIBUTION OPTIMIZATION; EXTERNAL DISTURBANCES; EXTERNAL PERTURBATIONS; FORCES DISTRIBUTION; INEQUALITY CONSTRAINT; QUADRATIC OBJECTIVE FUNCTIONS; QUADRUPED ROBOTS;

ADAPTIVE CONTROL SYSTEMS;

ADAPTATION; ANIMAL; ARTIFICIAL NEURAL NETWORK; AUTOMATED PATTERN RECOGNITION; BIOMIMETICS; FEEDBACK SYSTEM; GAIT; MECHANICAL STRESS; PRESSURE; PROCEDURES; ROBOTICS; WALKING;

ADAPTATION, PHYSIOLOGICAL; ANIMALS; BIOMIMETICS; FEEDBACK; GAIT; NEURAL NETWORKS (COMPUTER); PATTERN RECOGNITION, AUTOMATED; PRESSURE; ROBOTICS; STRESS, MECHANICAL; WALKING;

EID: 84904747800     PISSN: 2162237X     EISSN: 21622388     Source Type: Journal    
DOI: 10.1109/TNNLS.2013.2293500     Document Type: Article

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