Torque-Based Control of a Bio-Inspired Modular Climbing Robot
This article presents a generalizable, low computational cost, simple, and fast gravity compensation method for legged robots with a variable number of legs. It is based on the static problem, which is a reduction in the dynamic model of the robot that takes advantage of the low velocity of climbing...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-07-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/7/757 |