Blind Walking of a Planar Bipedal Robot on Sloped Terrain
نویسندگان
چکیده
Simple intuitive control strategies can be used to compel bipedal robots to walk over sloped terrain. We describe an algorithm for walking dynamically and steadily over sloped terrain with unknown slope gradients and transition locations. The algorithm is developed based on geometric considerations. The overall algorithm is very simple and does not require the biped to have an extensive sensory system for walking over moderate slopes. The ground is detected blindly using only foot contact switches. Using a few simple strategies, we have compelled a 7 link planar biped simulation to walk up and down slopes and over rolling terrain.
منابع مشابه
Blind Walking of a Planar Biped on Sloped Terrain
This thesis demonstrates the successful application of Virtual Model Control (VMC) to a simulated sevenlink planar biped for walking dynamically and steadily over sloped terrain with unknown slope gradients and transition locations. The slope gradients were assumed to be between ± 20; and it had maximum transitional gradient change of less than 20 per step. The developed algorithm for sloped te...
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