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Autonomous Robots
Erschienen in: Autonomous Robots 3/2015

01.03.2015

A force threshold-based position controller for legged locomotion

Toward local leg feedback algorithms for robust walking on uneven terrain

verfasst von: Mayur Palankar, Luther Palmer III

Erschienen in: Autonomous Robots | Ausgabe 3/2015

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Abstract

Taking inspiration from local leg feedback control loops present in animal legs, a force threshold-based position (FTP) controller is presented to aid with legged locomotion over irregular terrain. The algorithm uses pre-planned position trajectories and force feedback to either elevate or depress the foot. The FTP controller isolates the control of each leg to use only localized feedback, which can result in greater responsiveness to the terrain when compared to a centralized controller arbitrating all of the joint positions in a high degree of freedom system. The controller is robust to terrain elevations without using visual sensors, a priori terrain information, inertial sensing or inter-leg communication. Results of the FTP controller applied to a hexapod system in simulation and on an experimental system are shown in this paper. The algorithm also has the potential for expansion to bipeds, quadrupeds and other biologically-inspired forms.
Vorheriger Artikel Towards docking for small scale underwater robots
Nächster Artikel Push-manipulation of complex passive mobile objects using experimentally acquired motion models

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Metadaten
Titel
A force threshold-based position controller for legged locomotion
Toward local leg feedback algorithms for robust walking on uneven terrain
verfasst von
Mayur Palankar
Luther Palmer III
Publikationsdatum
01.03.2015
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 3/2015
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-014-9413-0

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