Abstract
One key problem to achieve a dynamically stable walking motion with biped robots is to measure and control the actual state of the robot with respect to its environment. Navigation in unstructured environment requires the information of the robot’s spacial orientation with respect to the gravity vector. Such, it becomes independent of the topology of the ground. Further, the interaction forces and torques between robot and environment have to be measured and controlled. For a walking motion, particularly the ground reaction forces and torques of the robot’s feet have to be confined to avoid slippage and tilting of the foot.
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Gienger, M., Loffler, K., Pfeiffer, F. (2003). Practical Aspects of Biped Locomotion. In: Siciliano, B., Dario, P. (eds) Experimental Robotics VIII. Springer Tracts in Advanced Robotics, vol 5. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36268-1_7
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DOI: https://doi.org/10.1007/3-540-36268-1_7
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