Title :
Prototypes of walking machines: motion synthesis
Author_Institution :
Inst. of Aircraft Eng. & Appl. Mech., Warsaw Univ. of Technol., Poland
Abstract :
The paper discusses development work related to the gait synthesis of walking machines prototypes. The problem of the influence of the leg posture on the leg-end/ground interaction is presented. It is shown that, by the choice of leg posture, the expected ground friction coefficient which prevents leg slippage can be controlled. The design of tip-over motion is shown.
Keywords :
control system synthesis; force control; force sensors; friction; legged locomotion; control system design; force control; force sensing; gait synthesis; ground friction coefficient; leg posture; leg slippage prevention; leg-end/ground interaction; motion synthesis; tip-over motion design; walking machine prototypes; Control system synthesis; Friction; Gears; Insects; Leg; Legged locomotion; Motion control; Paper technology; Prototypes; Shape control;
Conference_Titel :
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN :
83-7143-429-4
DOI :
10.1109/ROMOCO.2002.1177089
