Title :
A control structure for the locomotion of a legged robot on difficult terrain
Author :
Celaya, Enric ; Porta, Josep M.
Author_Institution :
Inst. de Robotica i Inf. Ind., Barcelona, Spain
fDate :
6/1/1998 12:00:00 AM
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
Keywords :
legged locomotion; position control; control structure; difficult terrain; gait generation; ground accommodation; locomotion; mobility; movement coordination; robot heading; six-legged robot; stability; Humans; Independent component analysis; Joints; Leg; Legged locomotion; Mobile robots; Robot kinematics; Robot sensing systems; Robotics and automation; Stability; Testing;
Journal_Title :
Robotics & Automation Magazine, IEEE
