An Approach to Stable Walking over Uneven Terrain Using a Reflex-Based Adaptive Gait

An Approach to Stable Walking over Uneven Terrain Using a Reflex-Based Adaptive Gait

This paper describes the implementation of an adaptive gait in a six-legged walking robot that is capable of generating reactive stepping actions with the same underlying control methodology as an insect for stable walking over uneven terrains. The proposed method of gait generation uses feedback da...

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Bibliographic Details
Main Authors: Umar Asif, Javaid Iqbal
Format: Article
Language:English
Published: Hindawi Limited 2011-01-01
Series:Journal of Control Science and Engineering
Online Access:http://dx.doi.org/10.1155/2011/783741
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spelling doaj-0e83d28a236d420b81b36cb35f7475be2020-11-25T00:53:35ZengHindawi LimitedJournal of Control Science and Engineering1687-52491687-52572011-01-01201110.1155/2011/783741783741An Approach to Stable Walking over Uneven Terrain Using a Reflex-Based Adaptive GaitUmar Asif0Javaid Iqbal1National University of Sciences and Technology, Islamabad 44000, PakistanNational University of Sciences and Technology, Islamabad 44000, PakistanThis paper describes the implementation of an adaptive gait in a six-legged walking robot that is capable of generating reactive stepping actions with the same underlying control methodology as an insect for stable walking over uneven terrains. The proposed method of gait generation uses feedback data from onboard sensors to generate an adaptive gait in order to surmount obstacles, gaps and perform stable walking. The paper addresses its implementation through simulations in a visual dynamic simulation environment. Finally the paper draws conclusions about the significance and performance of the proposed gait in terms of tracking errors while navigating in difficult terrains.http://dx.doi.org/10.1155/2011/783741
collection DOAJ
language English
format Article
sources DOAJ
author Umar Asif
Javaid Iqbal
spellingShingle Umar Asif
Javaid Iqbal
An Approach to Stable Walking over Uneven Terrain Using a Reflex-Based Adaptive Gait
Journal of Control Science and Engineering
author_facet Umar Asif
Javaid Iqbal
author_sort Umar Asif
title An Approach to Stable Walking over Uneven Terrain Using a Reflex-Based Adaptive Gait
title_short An Approach to Stable Walking over Uneven Terrain Using a Reflex-Based Adaptive Gait
title_full An Approach to Stable Walking over Uneven Terrain Using a Reflex-Based Adaptive Gait
title_fullStr An Approach to Stable Walking over Uneven Terrain Using a Reflex-Based Adaptive Gait
title_full_unstemmed An Approach to Stable Walking over Uneven Terrain Using a Reflex-Based Adaptive Gait
title_sort approach to stable walking over uneven terrain using a reflex-based adaptive gait
publisher Hindawi Limited
series Journal of Control Science and Engineering
issn 1687-5249
1687-5257
publishDate 2011-01-01
description This paper describes the implementation of an adaptive gait in a six-legged walking robot that is capable of generating reactive stepping actions with the same underlying control methodology as an insect for stable walking over uneven terrains. The proposed method of gait generation uses feedback data from onboard sensors to generate an adaptive gait in order to surmount obstacles, gaps and perform stable walking. The paper addresses its implementation through simulations in a visual dynamic simulation environment. Finally the paper draws conclusions about the significance and performance of the proposed gait in terms of tracking errors while navigating in difficult terrains.
url http://dx.doi.org/10.1155/2011/783741
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AT javaidiqbal anapproachtostablewalkingoveruneventerrainusingareflexbasedadaptivegait
AT umarasif approachtostablewalkingoveruneventerrainusingareflexbasedadaptivegait
AT javaidiqbal approachtostablewalkingoveruneventerrainusingareflexbasedadaptivegait
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