DocumentCode
3287279
Title
Locomotion of LAURON III in rough terrain
Author
Gaßmann, Bemd ; Scholl, Kay-Ulrich ; Berns, Karsten
Author_Institution
Forschungszentrum Inf., Karlsruhe, Germany
Volume
2
fYear
2001
fDate
2001
Firstpage
959
Abstract
In particular the advantages of legged compared to wheeled locomotion arise in unstructured, uneven and rough terrain. Based on the sensor system the behaviour control of LAURON III for walking in rough terrain is presented in this paper. To cope with terrain irregularities local behaviours like collision reaction and searching for ground are realised by an adaptation of the basic leg trajectories. Several global behaviours like the control of the body height and the centre of gravity influence the trajectories of all legs simultaneously
Keywords
adaptive control; legged locomotion; LAURON III; basic leg trajectories; collision reaction; ground search; legged locomotion; rough terrain; sensor system; stick insect like walking machine; terrain irregularities; uneven terrain; unstructured terrain; Control systems; DC motors; Intelligent sensors; Leg; Legged locomotion; Machine intelligence; Magnetic heads; Mechatronics; Sensor systems; World Wide Web;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location
Como
Print_ISBN
0-7803-6736-7
Type
conf
DOI
10.1109/AIM.2001.936810
Filename
936810
Link To Document