Warp1:: towards walking in rough terrain -: smooth foot placement

被引：0

作者：

Ridderström, C ^{[1
]}

Ingvast, J ^{[1
]}

机构：

[1] Royal Inst Technol, Dept Machine Design, Stockholm, Sweden

来源：

CLIMBING AND WALKING ROBOTS: AND THEIR SUPPORTING TECHNOLOGIES | 2003年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes further results from making the four-legged robot WARP 1 capable of walking in rough terrain. In this work, WARP1'S special foot length sensors (FLS) are used to improve leg control during footfall, footlift and support. It is shown that using the FLS can reduce the duration of a footfall without increasing disturbances on the trunk. This strategy has been used for walking over obstacles, as described in a companion paper.

引用

页码：467 / 474

页数：8

共 12 条

[1] WARN:: towards walking in rough terrain -: control of walking
Ingvast, J
Ridderström, C
Hardarson, F
Wikander, J
CLIMBING AND WALKING ROBOTS: AND THEIR SUPPORTING TECHNOLOGIES, 2003, : 197 - 204
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Yamada, Moyuru
Sano, Shigenori
Uchiyama, Naoki
International Journal of Advanced Robotic Systems, 2009, 6 (03) : 201 - 206
[3] Landing Control of Foot with Springs for Walking Robots on Rough Terrain
Yamada, Moyuru
Sano, Shigenori
Uchiyama, Naoki
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2009, 6 (03): : 201 - 206
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Matthis, Jonathan Samir
Yates, Jacob L.
Hayhoe, Mary M.
CURRENT BIOLOGY, 2018, 28 (08) : 1224 - +
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Dunn, ER
Howe, RD
1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4, 1996, : 578 - 583
[6] Visual Control of Foot Placement When Walking Over Complex Terrain
Matthis, Jonathan S.
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JOURNAL OF EXPERIMENTAL PSYCHOLOGY-HUMAN PERCEPTION AND PERFORMANCE, 2014, 40 (01) : 106 - 115
[7] Binocular vision and the control of foot placement during walking in natural terrain
Kathryn Bonnen
Jonathan S. Matthis
Agostino Gibaldi
Martin S. Banks
Dennis M. Levi
Mary Hayhoe
Scientific Reports, 11
[8] Binocular vision and the control of foot placement during walking in natural terrain
Bonnen, Kathryn
Matthis, Jonathan S.
Gibaldi, Agostino
Banks, Martin S.
Levi, Dennis M.
Hayhoe, Mary
SCIENTIFIC REPORTS, 2021, 11 (01)
[9] Six-legged walking in rough terrain based on foot point planning
Roennau, A.
Kerscher, T.
Ziegenmeyer, M.
Zoellner, J. M.
Dillmann, R.
MOBILE ROBOTICS-SOLUTIONS AND CHALLENGES, 2010, : 591 - 598
[10] Point-contact type foot with springs and posture control for biped walking on rough terrain
Sano, Shigenori
Yamada, Moyuru
Uchiyama, Naoki
Takagi, Shoji
AMC '08: 10TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, VOLS 1 AND 2, PROCEEDINGS, 2008, : 480 - 485

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