Ma. Jimenez et Pg. Desantos, POSITION-BASED MOTION CONTROL AND ADAPTABILITY OF PERIODIC GAITS FOR REALISTIC WALKING MACHINES, International Journal of Systems Science, 27(8), 1996, pp. 723-730
Citations number
10
Categorie Soggetti
System Science","Computer Science Theory & Methods","Operatione Research & Management Science
The paper deals with both mechanical problems that appear in realistic
legged vehicles and algorithms to modify the gait according to the te
rrain. Flexion in links and joints produces a change in both the attit
ude and the position of the body which must be corrected for realistic
walking. Because this phenomenon is difficult to model; the paper pre
sents an attitude/position control strategy based on position control.
This algorithm also allows the robot to be kept level while moving ov
er irregular terrain. Furthermore, this paper proposes a strategy to.
adapt a periodic gait to an irregular terrain in real time, which is b
ased on the variation of parameters affecting leg co-ordination. This
algorithm does not require prior knowledge of footholds. However, this
adaptive gait control can be incorporated into a system with external
stereoceptive sensors to select footholds. Both control strategies ar
e aimed at a class of periodic gaits known as wave gaits. The aforemen
tioned motion control algorithms have been tested successfully in the
RIMHO walking robot.