Statically Stable Legged
نویسندگان
چکیده
This paper deals with the problem of planning and controlling the trajectories of the legs of a mobile robot moving through statically stable conngurations. Legs are supposed to possess signiicant weight compared to the chassis, and a degree of redundancy that can be used to maximize the robustness of equilibrium. We use optimal control techniques for planning joint trajectories that comply with given feet trajectories, equilibrium and workspace constraints. This method implies iterative solutions and is used in a preliminary oo-line phase. A real time control law is then derived, that can be applied to on-line control of the above trajectories while accommodating for unexpected external disturbances.
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