A CONTROL-STRUCTURE FOR THE LOCOMOTION OF A LEGGED ROBOT ON DIFFICULTTERRAIN

Authors
CELAYA E PORTA JM
Citation
E. Celaya et Jm. Porta, A CONTROL-STRUCTURE FOR THE LOCOMOTION OF A LEGGED ROBOT ON DIFFICULTTERRAIN, IEEE robotics & automation magazine, 5(2), 1998, pp. 43-51
Citations number
11
Categorie Soggetti
Robotics & Automatic Control","Robotics & Automatic Control
Journal title
IEEE robotics & automation magazine → ACNP
ISSN journal
10709932
Volume
5
Issue
2
Year of publication
1998
Pages
43 - 51
Database
ISI
SICI code
1070-9932(1998)5:2<43:ACFTLO>2.0.ZU;2-1
Abstract
The control of a legged robot walking on difficult terrain demands the development of efficient and reliable algorithms to coordinate the mo vement of multiple legs according to a diversity of requirements. We p resent a control structure, implemented on a six-legged robot, in whic h the aspects of stability, mobility, ground accommodation, gait gener ation, and robot heading are integrated in a coherent and simple way.