STANCE: Locomotion Adaptation Over Soft Terrain
نویسندگان
چکیده
منابع مشابه
Hexapodal robot locomotion over uneven terrain
This paper presents a novel gait generation approach which combines a reactionary and a central pattern generator (CPG) system. The former couples isolated leg controllers by simple gait generation rules that ensure static stability and produce a continuum of gait patterns across the full speed range. The CPG system is based on six coupled oscillators and complements the reactionary system to f...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2020
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2019.2954670