Improving a trotting robot's gait by adapting foot trajectory offsets
2001 (English)In: International Conference on Climbing and Walking RobotsArticle in journal (Refereed) Published
This paper presents a method to adapt the foot reference trajectory offsets in order to improvea specific trotting gait. The trot gait used, is expected to have each leg on ground the sameamount of time and the adaptation offsets the supporting diagonals of the feet to minimize thedifferences in time. The controller is thus indirectly controlling the centre of mass position withrespect to the support without an explicit measure of the actual position of the centre of mass.The functionality of the controller is verified by experiments: trotting in place and trotting up aslope.
Place, publisher, year, edition, pages
IdentifiersURN: urn:nbn:se:kth:diva-9030OAI: oai:DiVA.org:kth-9030DiVA: diva2:14569
QC 201008312006-01-262006-01-262010-08-31Bibliographically approved