Attitude and altitude control using discontinuous gaits for walking machines
Attitude and altitude control using discontinuous gaits for walking machines
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DOI：
10.1109/icsmc.1993.384857
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发表时间：
1993-10
期刊：
影响因子：
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通讯作者：
P. Gonzalez de Santos;M. A. Jimenez;J. Reviejo;J. Tabera
中科院分区：
文献类型：
--
作者：
P. Gonzalez de Santos;M. A. Jimenez;J. Reviejo;J. Tabera
步行运动的原理在前几年已经建立起来了。目前，许多数学问题已经被研究和解决，但在这些知识的实施中，出现了新的现实问题。连杆和关节的弯曲以及地形压缩在系统中引入了一些不受欢迎的特性。这些现象不容易建模；因此，应该使用传感器。本文研究了步行器姿态/高度控制的实现方法。主要范围是使用非复杂传感器执行控制，如接触式传感器、倾斜仪和关节位置传感器。本文描述了在四足步行机上工作的算法和实验结果。
Principles of legged locomotion have been established in the previous years. At present, many mathematical problems have been studied and solved; but in the implementation of this knowledge, new real problems have appeared. Flexion on links and joints and terrain compression introduce some undesirable characteristics in the system. These phenomena are not easy to model; therefore, sensors should be used. This paper deals with the implementation of attitude/altitude control on a walker. The main scope is to perform control using non-sophisticated sensors such as contact sensors, inclinometers, and joint position sensor. This paper describes the algorithms and the experimental results obtained working on a four legged walking machine.>