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Open Access item Accurate tracking of legged robots on natural terrain

Authors:Cobano, José A.
Estremera, Joaquín
González de Santos, Pablo
Keywords:Walking robots, legged robots, trajectory tracking, humanitarian demining
Issue Date:25-Mar-2011
Citation:Autonomous Robots 28(2): 231-244 (2010)
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.
Publisher version (URL):http://dx.doi.org/10.1007/s10514-009-9165-4
E-ISSNmetadata.dc.identifier.doi = DOI:0929-5593
Appears in Collections:(CAR) Artículos

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