Quadruped Robot Control: An Approach Using Body Planar Motion Control, Legs Impedance Control and Bézier Curves

Quadruped Robot Control: An Approach Using Body Planar Motion Control, Legs Impedance Control and Bézier Curves

In robotics, the ability of quadruped robots to perform tasks in industrial, mining, and disaster environments has already been demonstrated. To ensure the safe execution of tasks by the robot, meticulous planning of its foot placements and precise leg control are crucial. Traditional motion plannin...

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Bibliographic Details
Main Authors: Gabriel Duarte Gonçalves Pedro, Gabriel Bermudez, Vivian Suzano Medeiros, Hélio Jacinto da Cruz Neto, Luiz Guilherme Dias de Barros, Gustavo Pessin, Marcelo Becker, Gustavo Medeiros Freitas, Thiago Boaventura
Format: Article
Language:English
Published: MDPI AG 2024-06-01
Series:Sensors
Subjects:
quadruped robots
Bézier curves
impedance control
legged control
body control
Online Access:https://www.mdpi.com/1424-8220/24/12/3825

Internet

https://www.mdpi.com/1424-8220/24/12/3825

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