Modeling walker/terrain interaction to achieve reliable, autonomous walking control

Walking robots are inherently complex locomotors vis-a-vis their tracked and wheeled counterparts, yet they retain advantages in their ability to traverse difficult terrain. However, this advantage may only be realized through the development of methods which allow the robot to traverse such terrain safely and reliably. Methods and insights on how to achieve this for statically-stable walking robot are presented. These methods should be used for both planning and control of autonomous walking robots in order that reliable walking is achieved