Force and motion coordination of legged robots for walking ability improvement
Compared with a wheeled mobile robot, a legged robot is more capable to walk in un-structured natural environment. To fully exert this ability in such a condition is one of the main concerns in the development of legged robots. It is well-known that the interaction between the foot and the ground pl...
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| 格式: | Theses and Dissertations |
| 出版: |
2008
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| 在線閱讀: | http://hdl.handle.net/10356/5569 |
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| 總結: | Compared with a wheeled mobile robot, a legged robot is more capable to walk in un-structured natural environment. To fully exert this ability in such a condition is one of the main concerns in the development of legged robots. It is well-known that the interaction between the foot and the ground plays a crucial effect on the walking ability. Considering leg-end forces, three methods are proposed in this thesis to improve the walking ability of a legged robot. |
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