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...
Main Authors: | , , , , |
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Format: | Article |
Language: | English |
Published: |
Frontiers Media S.A.
2020-04-01
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Series: | Frontiers in Robotics and AI |
Subjects: | |
Online Access: | https://www.frontiersin.org/article/10.3389/frobt.2020.00048/full |