General model of legged locomotion on natural terrain
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چکیده
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منابع مشابه
Mobility of Legged Robot Locomotion with Elastically-suspended Loads over Rough Terrain
Elastically-suspended loads can reduce the energetic cost of legged robot locomotion over flat ground. In this paper, we studied the effect of elastically-suspended loads on the mobility of legged robot locomotion over rough terrain. The power input and speed of a simple hexapod robot running over rough terrain with an elastically-suspended load and a rigidly-attached load was compared. On aver...
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RHex is one of very few legged robots being used for realworld rough-terrain locomotion applications. From its early days, RHex has been shown to locomote successfully over obstacles higher than its own hip height [1], and more recently, on sand [2] and sand dunes [3], [4] (see Figure 1). The commercial version of RHex made by Boston Dynamics1 has been demonstrated in a variety of difficult, na...
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In recent years, there has been increasing interest in legged locomotion, primarily due to the realization that wheeled locomotion has inherent limitations on unstructured environments. The use of legs, adopted by many animals and insects who need to locomote over a wide range of di erent terrain conditions, seems to be the most natural and e ective solution to the problem. In this context, we ...
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Legged locomotion provides robots with the capability of adapting to different terrain conditions. General complex terrain traversal methodologies solely rely on proprioception which readily leads to instability under dynamical situations. Biological legged locomotion utilizes somatosensory feedback to sense the real-time interaction of the feet with ground to enhance stability. Nevertheless, l...
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