Accurate tracking of legged robots on natural terrain |
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Authors: | J A Cobano J Estremera P Gonzalez de Santos |
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Affiliation: | 1.Department of Automatic Control,Institute of Industrial Automation - CSIC,Madrid,Spain |
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Abstract: | Statically stable walking locomotion research has focused mainly on robot design and gait generation. However, there is a
need to expand robots’ capabilities so that walking machines can accomplish the kinds of real tasks for which they are eminently
suited. Many such tasks demand trajectory tracking, but researchers have traditionally ignored this subject. This article
focuses on the tracking of predefined trajectories with hexapod robots walking on natural terrain with forbidden zones. The
method presented herein, which relies on gait algorithms defined elsewhere, describes certain localization strategies and
control techniques that have been employed to follow trajectories accurately and have been implemented in a real walking hexapod.
Several experimental examples are included to assess the proposed algorithms. |
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Keywords: | |
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