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Accurate tracking of legged robots on natural terrain

AuthorsCobano, José A.; Estremera, Joaquín; González-de-Santos, Pablo
KeywordsWalking robots
legged robots
trajectory tracking
humanitarian demining
Issue Date25-Mar-2011
CitationAutonomous Robots 28(2): 231-244 (2010)
AbstractStatically 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
Appears in Collections:(CAR) Artículos
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