AN ADAPTIVE GAIT FOR LEGGED WALKING MACHINES OVER ROUGH TERRAIN

被引：19

作者：

SHIH, CL ^{[1
]}

KLEIN, CA ^{[1
]}

机构：

[1] OHIO STATE UNIV,DEPT ELECT ENGN,COLUMBUS,OH 43210

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1993年 / 23卷 / 04期

关键词：

D O I：

10.1109/21.247895

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

An adaptive gait algorithm for multilegged walking machines over rough terrain has been developed. The heuristic and hierarchical approach for the three levels of 1) body motion adaptation, 2) leg sequence adaptation, and 3) leg position adaptation is effective, straightforward, and relatively independent of the number of legs. On rough terrains with depressions the algorithm behaves like a ''free gait''; on level ground terrain it behaves more like a periodic gait. ne effectiveness of the proposed gait over rough terrains with depressions is demonstrated with several computer simulations.

引用

页码：1150 / 1155

页数：6