论文信息 - A control structure for the locomotion of a legged robot on difficult terrain

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

The 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.

Enric Celaya | Josep M. Porta

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