DocumentCode
3143136
Title
Prototypes of walking machines: motion synthesis
Author
Zielinska, T.
Author_Institution
Inst. of Aircraft Eng. & Appl. Mech., Warsaw Univ. of Technol., Poland
fYear
2002
fDate
9-11 Nov. 2002
Firstpage
83
Lastpage
86
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN
83-7143-429-4
Type
conf
DOI
10.1109/ROMOCO.2002.1177089
Filename
1177089
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