IEEE - Institute of Electrical and Electronics Engineers, Inc. - Modular control of limit cycle locomotion over unperceived rough terrain

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Mostafa Ajallooeian ; Sebastien Gay ; Alexandre Tuleu ; Alexander Sprowitz ; Auke J. Ijspeert
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 3,390 - 3,397
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696839
Regular:

We present a general approach to design modular controllers for limit cycle locomotion over unperceived rough terrain. The control strategy uses a Central Pattern Generator (CPG) model implemented... View More

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