Adaptive impedance control with variable target stiffness for wheel-legged robot on complex unknown terrain
Abstract
Wheel-legged robots operating on the ground experience real-time interactions with the complex unknown terrain, which may lead to tilting of the whole body and instability if no regulated effort is made. Maintaining a horizontal posture of the whole body with changes in the terrain geometry via impedance control (IC) that is widely used in many fields is desirable to be realized. However, because the stiffness and location of the terrain...
Paper Details
Title
Adaptive impedance control with variable target stiffness for wheel-legged robot on complex unknown terrain
Published Date
Aug 1, 2020
Journal
Volume
69
Pages
102388 - 102388
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