Mohammad Lavaei
Center for Mechatronics and Intelligent Machines, School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran
[ 1 ] - Stiffness control of a legged robot equipped with a serial manipulator in stance phase
The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...
نویسندگان همکار