Dynamic and Control of Legged Robots
A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Actuators for Robotics".
Deadline for manuscript submissions: closed (28 February 2023) | Viewed by 4919
Special Issue Editors
Interests: legged robotics; dynamics and model-based control; optimal control; trajectory optimization; interaction robotics; motor control
Interests: robotics; space robotics; contact mechanics; artificial intelligence; control
Special Issue Information
Dear Colleagues,
Legged robotics have undergone significant development in the last decade. The application domains of legged robots include nuclear decommissioning and mining, search and rescue, inspection, surveillance, and space exploration, etc. In addition to industrial applications, they also show the potential for elderly and patient care. Researchers have explored various motion and planning and control approaches for dynamic locomotion, leveraging different dynamic models. Reinforcement learning provides the legged robots with tremendous robustness against uncertainties and disturbances. However, model-based approaches are faced with nonlinearity problems whilst learning-based approaches have the sim-to-real gap. This Special Issue welcomes papers on, but not limited to, the following topics:
- Trajectory optimization;
- Whole-body control;
- Learning-based control strategies;
- Dynamic modeling of the robots and the environments;
- Navigation and obstacle avoidance;
- Loco-manipulation planning and control;
- State estimation and online data fusion;
- Robot and human interaction;
- The advanced design of legged robots;
- Bionics in legged robots.
Dr. Guiyang Xin
Prof. Dr. Liang Ding
Prof. Dr. Lelai Zhou
Guest Editors
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Keywords
- legged robotics
- optimal control
- whole-body control
- model predictive control
- dynamic modeling
- machine learning
- actuator dynamics and control
- robust control
- state estimation
- SLAM
- locomotion and manipulation
- bionics
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