An Optimization-Based Locomotion Controller for Quadruped Robots Leveraging Cartesian Impedance Control

An Optimization-Based Locomotion Controller for Quadruped Robots Leveraging Cartesian Impedance Control

Quadruped robots require compliance to handle unexpected external forces, such as impulsive contact forces from rough terrain, or from physical human-robot interaction. This paper presents a locomotion controller using Cartesian impedance control to coordinate tracking performance and desired compli...

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Bibliographic Details
Main Authors: Guiyang Xin, Wouter Wolfslag, Hsiu-Chin Lin, Carlo Tiseo, Michael Mistry
Format: Article
Language:English
Published: Frontiers Media S.A. 2020-04-01
Series:Frontiers in Robotics and AI
Subjects:
locomotion controller
projected inverse-dynamics
quadratic programming
impedance control
quadruped robots
Online Access:https://www.frontiersin.org/article/10.3389/frobt.2020.00048/full

Internet

https://www.frontiersin.org/article/10.3389/frobt.2020.00048/full

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