Real Time Computer Control of a Quadruped Walking Robot

DOI10.1115/1.3143805zbMATH Open0612.93048OpenAlexW2168379485MaRDI QIDQ3753896FDOQ3753896

Authors: Ching-Long Shih, Tsu-Tian Lee 

Publication date: 1986

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.3143805

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zbMATH Keywords

nonlinear feedbackdecouplingmodel-reference-adaptive-controlquadruped walking robotreal-time computer control of locomotion

Mathematics Subject Classification ID

Computing methodologies and applications (68U99) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Adaptive control/observation systems (93C40) Application models in control theory (93C95)

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• Adaptive walking control of quadruped robot based on Rulkov neuron model
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• Intelligent control of high-speed turning in a quadruped
• Virtual quadruped: Mechanical design, control, simulation, and experimentation
• Study of a distributed control architecture for a quadruped robot
• Quadrupedal locomotion. An introduction to the control of four-legged robots.
• A real-time kinematics on the translational crawl motion of a quadruped robot

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