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A control structure for the locomotion of a legged robot on difficult terrain

AuthorsCelaya, Enric ; Porta, Josep M.
KeywordsRough terrain walking
Posture control
Terrain adaptation
Gait generation
Six-legged robots
Issue Date1998
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE Robotics and Automation Magazine 5(2): 43-51 1998
AbstractThe control of a legged robot walking on difficult terrain demands the development of efficient and reliable algorithms to coordinate the movement of multiple legs according to a diversity of requirements. We present a control structure, implemented on a six-legged robot, in which the aspects of stability, mobility, ground accommodation, gait generation, and robot heading are integrated in a coherent and simple way.
Publisher version (URL)http://dx.doi.org/10.1109/100.692340
Appears in Collections:(IRII) Artículos
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