A Control Structure for The Locomotion of A Legged Robot on Difficult Terrain  

Oleh:

Celaya, A. ; Porta, J. M.

Jenis: Article from Bulletin/Magazine
Dalam koleksi: Robotics & Automation Magazine vol. 5 no. 2 (1998), page 43-51.
Topik: LOCOMOTION; control structure; locomotion; robot; terrain

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: RR9.3 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

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Isi artikel

The control of a legged robot walking on difficult terrain demands the development of efficient and reliable algorithms to coordinate the movement of multiple legs according to a diversity of requirements. We present a control structure, implemented on a six - legged robot, in which the aspects of stability, mobility, ground accommodation, gait generation, and robot heading are integrated in a coherent and simple way.

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