Publication
A control structure for the locomotion of a legged robot on difficult terrain
Journal Article (1998)
Journal
IEEE Robotics and Automation Magazine
Pages
43-51
Volume
5
Number
2
Doc link
http://dx.doi.org/10.1109/100.692340
File
Abstract
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.
Categories
robots.
Author keywords
rough terrain walking, posture control, terrain adaptation, gait generation, six-legged robots
Scientific reference
E. Celaya and J.M. Porta. A control structure for the locomotion of a legged robot on difficult terrain. IEEE Robotics and Automation Magazine, 5(2): 43-51, 1998.
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