Referenced Items are not available for this document.
A general approach for coordinating the legs of a multi-legged statically stable walking machine on an uneven terrain. The method of ordinal optimization is used to find a good motion plan for low travel time that specifies the footholds and the gait of the walking machine. Numerical simulations illustrate the approach and demonstrate that we can find a good motion plan for uneven terrain with high complexity in a reasonably short time.
Published in:
Robotics & Automation Magazine, IEEE
(Volume:5
,
Issue:
2
)
Date of Publication: June 1998
- Page(s):
- 22 - 32
- ISSN :
- 1070-9932
- INSPEC Accession Number:
- 5993145
- Digital Object Identifier :
- 10.1109/100.692337
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- June 1998
- Sponsored by :
- IEEE Robotics and Automation Society
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