Locomotion Control of Quadruped Robots With Online Center of Mass Adaptation and Payload Identification
Most of the controllers for quadruped robots are based on the planning of their centers of mass (CoM), with the assumption that the CoM locates at the geometrical center of the robot trunk. However, this assumption rarely meets the fact of the robot prototype and introduces apparent influences to th...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9294027/ |