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