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Frontiers of Mechanical Engineering >> 2020, Volume 15, Issue 2 doi: 10.1007/s11465-019-0569-3
Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China
Abstract
Keywords
legged robots ; spring-loaded inverted pendulum ; task space control ; apex return map ; deadbeat control ; irregular terrain negotiation
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