A robust and compliant framework for legged mobile manipulators using virtual model control and whole-body control

Author:

Xie Aizhen,Chen Teng,Rong XuewenORCID,Zhang Guoteng,Li Yibin,Fan Yong

Publisher

Elsevier BV

Subject

Computer Science Applications,General Mathematics,Software,Control and Systems Engineering

Reference38 articles.

1. Bigdog, the rough-terrain quadruped robot;Raibert;Proc. IFAC,2008

2. Anymal - toward legged robots for harsh environments;Hutter;Adv. Robot.,2017

3. Carlo, Jared Di, Patrick M. Wensing, Benjamin Katz, Gerardo Bledt, Sangbae Kim, Dynamic Locomotion in the Mit Cheetah 3 through Convex Model-Predictive Control, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2018.

4. Stance: Locomotion adaptation over soft terrain;Fahmi;IEEE Trans. Robot.,2020

5. [Online]. Available: https://www.bostondynamics.com/spot-mini, Accessed: Jan. 16, 2022.

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