Constrained Multilegged Robot System Modeling and Fuzzy Control With Uncertain Kinematics and Dynamics Incorporating Foot Force Optimization

This paper studies the optimal distribution of feet forces and control of multilegged robots with uncertainties in both kinematics and dynamics. First, a constrained dynamics for multilegged robots and the constrained environment model are established by considering both kinematic and dynamic uncert...

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Bibliographic Details
Published in:	IEEE transactions on systems, man, and cybernetics. Systems Vol. 46; no. 1; pp. 1 - 15
Main Authors:	Li, Zhijun, Xiao, Shengtao, Ge, Shuzhi Sam, Su, Hang
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.01.2016 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Constraints Dynamical systems Dynamics Foot Force Forces distribution Fuzzy logic fuzzy-based motion/force control Kinematics kinematics and dynamics uncertainties Legged locomotion multilegged robot Neural networks Nonlinear dynamics Optimization Robots Uncertainty multilegged robot Forces distribution fuzzy-based motion/force control kinematics and dynamics uncertainties
ISSN:	2168-2216, 2168-2232
Online Access:	Get full text
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