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.
No takes yet. Share an insight, caveat, or question.
Celaya et al. (1998) studied this question.
Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context: