Force and motion management in legged locomotion
- 1 December 1986
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Journal on Robotics and Automation
- Vol. 2 (4) , 214-220
- https://doi.org/10.1109/jra.1986.1087060
Abstract
The control of a legged locomotion system over uneven terrain requires a new approach to coordination. The system has a high degree of static indeterminacy and, because of the stiffness of the structural and actuation systems, has stability problems if position-velocity control is used. The problem has many similarities to that of grasping and manipulating an object in a multi-fingered hand. The stability problem is removed by controlling actuator force directly, but the necessary computations can be prohibitive. A solution is presented which is moderate in its computational requirements. It is based on an assumption of zero foot interaction forces in the horizontal plane.Keywords
This publication has 2 references indexed in Scilit:
- Dynamic Computer Control of a Robot LegIEEE Transactions on Industrial Electronics, 1985
- Kinematic and Force Analysis of Articulated Mechanical HandsJournal of Mechanical Design, 1983