A controller for the LittleDog quadruped walking on rough terrain

被引：102
|
作者：
Rebula, John R. [1 ]
Neuhaus, Peter D. [1 ]
Bonnlander, Brian V. [1 ]
Johnson, Matthew J. [1 ]
Pratt, Jerry E. [1 ]
机构：
[1] Florida Inst Human & Machine Cognit, Pensacola, FL 32502 USA
来源：
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 | 2007年
关键词：
D O I：
10.1109/ROBOT.2007.363191
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We present a controller for a quadrupedal robot statically walking on known rough terrain. The controller has both deliberative and reactive components for task specific control issues, such as impassable terrain and unmodeled foot slippage. The controller architecture supports multiple gaits, and we present both a stable onmidirectional gait and a faster directional gait. The robot successfully negotiates obstacles up to 7.5 cm (approximate to 40% leg length) tall and navigates over rocky terrain.
引用
收藏
页码：1467 / +
页数：3
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