Use of Force and Attitude Sensors for Locomotion of a Legged Vehicle over Irregular Terrain
- 1 June 1983
- journal article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 2 (2) , 3-17
- https://doi.org/10.1177/027836498300200201
Abstract
A number of legged vehicles are being developed for their mobility characteristics over irregular terrain. One such vehicle is The Ohio State University Hexapod vehicle (OSU Hexapod). Recently, the vehicle has been modified so that it can successfully walk over uneven terrain. Each of the feet has been equipped with two semiconductor strain gauges to measure lateral forces and a piezoelectric load cell to measure vertical forces. A vertical gyroscope and pendulums for orientation sensing have also been added.Keywords
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