Title :
Locomotion of LAURON III in rough terrain
Author :
Gaßmann, Bemd ; Scholl, Kay-Ulrich ; Berns, Karsten
Author_Institution :
Forschungszentrum Inf., Karlsruhe, Germany
Abstract :
In particular the advantages of legged compared to wheeled locomotion arise in unstructured, uneven and rough terrain. Based on the sensor system the behaviour control of LAURON III for walking in rough terrain is presented in this paper. To cope with terrain irregularities local behaviours like collision reaction and searching for ground are realised by an adaptation of the basic leg trajectories. Several global behaviours like the control of the body height and the centre of gravity influence the trajectories of all legs simultaneously
Keywords :
adaptive control; legged locomotion; LAURON III; basic leg trajectories; collision reaction; ground search; legged locomotion; rough terrain; sensor system; stick insect like walking machine; terrain irregularities; uneven terrain; unstructured terrain; Control systems; DC motors; Intelligent sensors; Leg; Legged locomotion; Machine intelligence; Magnetic heads; Mechatronics; Sensor systems; World Wide Web;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936810