No Need for a Body Model: Positive Velocity Feedback for the Control of an 18-DOF Robot Walker
In a multilegged walking robot several legs usually have ground contact and thereby form a closed kinematic chain. The control of such a system is generally assumed to require the explicit calculation of the body kinematics. Such a computation requires knowledge concerning all relevant joint angles...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2008-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1080/11762320802221074 |
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