By Topic

Force interaction and allocation for the legs of a walking vehicle

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Klein, C.A. ; Ohio State University, Columbus, OH, USA ; Tae-Sang Chung

Force is often used in the control of the legs of a walking machine to allow a vehicle to adapt to terrain irregularity. However, interactions in force among the legs have the capability of causing control system instabilities if not properly treated. Different criteria for allocating forces to the legs of a walking machine are considered, properties of force-induced instability modes are studied, and the plan of hybrid control allocated by legs as a means of avoiding these force interaction modes without requiring an excessively high control frequency is introduced.

Published in:

Robotics and Automation, IEEE Journal of  (Volume:3 ,  Issue: 6 )