Force and motion coordination of legged robots for walking ability improvement

• Main Author: Zhou, Debao.
• Other Authors: Low, Kin Huat
• Format: Theses and Dissertations
• Published: 2008
• Subjects: DRNTU::Engineering::Mechanical engineering::Robots
• Online Access: http://hdl.handle.net/10356/5569
• Institution: Nanyang Technological University

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...