Use of Active Compliance in the Control of Legged Vehicles
- 1 July 1980
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Systems, Man, and Cybernetics
- Vol. 10 (7) , 393-400
- https://doi.org/10.1109/tsmc.1980.4308520
Abstract
Often it is desirable to specify both position and force at the end effector of a manipulator system; however, when the system forms a closed kinematic chain both cannot be realized independently. Active compliance is a trade-off method that can be easily incorporatd into the supervisory control philosophy which is often used to control complex man-machine systems. An example of such a system is the Ohio State University (OSU) Hexapod which is a legged walking vehicle. Active compliance is shown to be invaluable for allowing legged locomotion over irregular terrain.Keywords
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