On the Improvement of Multi-Legged Locomotion over Difficult Terrains using a Balance Stabilization Method
This paper deals with the real‐time walking of a multi-legged robot over difficult terrains using a balance stabilization method in order to achieve a fast speed and robust locomotion with minimal tracking errors. The stabilization method is described through a ZMP‐based online pattern‐generation sc...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2012-03-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/on_the_improvement_of_multi_legged_locomotion_over_difficult_terrains_using_a_balance_stabilization_ |