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A control structure for the locomotion of a legged robot on difficult terrain

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2 Author(s)
E. Celaya ; Inst. de Robotica i Inf. Ind., Barcelona, Spain ; J. M. Porta

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

Published in:

IEEE Robotics & Automation Magazine  (Volume:5 ,  Issue: 2 )