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Towards Modular Control for Moderately Fast Locomotion over Unperceived Rough Terrain
2013
We are motivated to build simple controllers for quadruped robots to locomote over unperceived moderately difficult rough terrain at moderately fast speeds. The presented approach here does not need force sensing at feet, and does not need information about the mass properties of the robot like inertia tensors, so it is apt for relatively cheap and lightweight robots. We explore our approach with two dif- ferent simulated robots, one being the simulation of the Oncilla robot which will soon be used for validation.
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Name
ajallooeian_dwoncilla_2013.pdf
Type
Preprint
Access type
openaccess
Size
1.46 MB
Format
Adobe PDF
Checksum (MD5)
8045d2a06c19628e2cb5c4217d980e1a