Torque-control based compliant actuation of a quadruped robot
暂无分享,去创建一个
Darwin G. Caldwell | Jonas Buchli | Claudio Semini | Michele Focchi | Thiago Boaventura | Marco Frigerio | J. Buchli | D. Caldwell | C. Semini | Michele Focchi | M. Frigerio | Thiago Boaventura
[1] Atsuo Takanishi,et al. Physical interaction between human and a bipedal humanoid robot-realization of human-follow walking , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).
[2] Alin Albu-Schäffer,et al. Cartesian impedance control techniques for torque controlled light-weight robots , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).
[3] Stefan Schaal,et al. Compliant quadruped locomotion over rough terrain , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[4] Ferdinando Cannella,et al. Design of HyQ – a hydraulically and electrically actuated quadruped robot , 2011 .
[5] Nikolaos G. Tsagarakis,et al. Lower body realization of the baby humanoid - ‘iCub’ , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[6] Neville Hogan,et al. Impedance Control: An Approach to Manipulation: Part II—Implementation , 1985 .
[7] Darwin G. Caldwell,et al. Dynamic torque control of a hydraulic quadruped robot , 2012, 2012 IEEE International Conference on Robotics and Automation.
[8] Gerd Hirzinger,et al. The DLR-Crawler: A testbed for actively compliant hexapod walking based on the fingers of DLR-Hand II , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[9] Jon Rigelsford,et al. Modelling and Control of Robot Manipulators , 2000 .
[10] Naim A. Kheir,et al. Control system design , 2001, Autom..
[11] Daniel P. Ferris,et al. Interaction of leg stiffness and surfaces stiffness during human hopping. , 1997, Journal of applied physiology.
[12] Claudio Semini. HyQ - Design and Development of a Hydraulically Actuated Quadruped Robot , 2010 .
[13] Chee-Meng Chew,et al. Virtual Model Control: An Intuitive Approach for Bipedal Locomotion , 2001, Int. J. Robotics Res..