Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation

Locomotion control for quadruped robots is commonly applied on rigid terrains with modelled contact dynamics. However, the robot traversing different terrains is more important for real application. In this paper, a single-leg prototype and a test platform are built. The Cartesian coordinates of the...

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Bibliographic Details
Main Authors: Songyuan Zhang, Hongji Zhang, Yili Fu
Format: Article
Language:English
Published: Hindawi Limited 2020-01-01
Series:Applied Bionics and Biomechanics
Online Access:http://dx.doi.org/10.1155/2020/8854411