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Analysing and solving body misplacement problems in walking robots with round rigid feet

AuthorsGuardabrazo, T.; Jiménez Ruiz, María Antonia; González-de-Santos, Pablo
KeywordsWalking robots
Round rigid feet
Attitude control
Issue Date2006
CitationRobotics and Autonomous Systems 54(3): 256-264 (2006)
AbstractRound rigid feet for multi-legged robots offer a number of advantages over flat feet, and even over flat feet with articulated ankles. The main benefits are low cost, low complexity and robustness. A round rigid foot of small radius works well on hard terrain; however, it is prone to sink into soft terrain. Sinking can be avoided by increasing the radius of the foot, but in that case a round foot will roll during the leg-support phase, causing the hip to become misplaced and the robot to assume an incorrect attitude. This paper analyses this problem and provides a hip-control algorithm for restoring leg coordination. The algorithm is implemented in a real leg with a large-radius ball foot in order to evaluate how the algorithm would perform if applied to a real robot. © 2005 Elsevier B.V. All rights reserved.
Publisher version (URL)http://dx.doi.org/10.1016/j.robot.2005.10.007
Identifiersissn: 0921-8890
Appears in Collections:(IAI) Artículos
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