期刊
ROBOTICS AND AUTONOMOUS SYSTEMS
卷 53, 期 2, 页码 124-141出版社
ELSEVIER
DOI: 10.1016/j.robot.2005.07.002
关键词
quadruped robot; slip-adaptive; force control; dynamic walk
In this paper. we investigated the effects of the friction condition on walking pattern and energy efficiency, and based on the results, we proposed two new slip-adaptive strategies for generating a slip-adaptive walk. The first strategy for a slip-adaptive walk uses a slip reflex via a Central Pattern Generator (CPG) to change the walking pattern. The second strategy for a walk uses a force control to immediately compensate a slip. Using these strategies, a walk, which is adaptive to varying friction conditions and slips, becomes possible. The validity of the proposed method is confirmed through simulation and experimentation. (C) 2005 Elsevier B.V. All rights reserved.
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