Force Control in Locomotion of Legged Vehicles over Rigid and Soft Surfaces
- 1 April 1990
- journal article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 9 (2) , 4-23
- https://doi.org/10.1177/027836499000900202
Abstract
The control system of the hexapod walking vehicle, designed at the Institute for Mechanics at Moscow State University and at the Institute for Problems of Information Transmis sion at the USSR Academy of Sciences, is extended to effect the control of foot-contact forces and locomotion in soft soil. The previously developed positional control system enables the computation of commanded motion of the vehicle legs and positional feedback to track this commanded motion. Force feedback is added to the control system, in addition to computation of commanded forces and leg position correc tions for leg sinkage during soft soil locomotion.Keywords
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