Variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains
Quadruped robots are widely applied in real-world environments where they have to face the challenges of walking on unknown rough terrains. This paper presents a control pipeline that generates robust and compliant legged locomotion for torque-controlled quadruped robots on uneven terrains. The Cart...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2022-08-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2022.874290/full |