Multiple local controls integrated by RMPs for FCP-based hexapod walking
When hexapod robots walk on uneven terrain, they need to avoid the legs from collisions with obstacles, their own legs, and the ground, while also considering joint limits and reaching their feet to a destination. To address these issues, several local controls are defined in this paper for the swin...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2024-12-01
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| Series: | SICE Journal of Control, Measurement, and System Integration |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.1080/18824889.2024.2351663 |
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