Abstract
The paper describes a method of autonomous locomotion control of walking machines in unknown and rough terrain which is based on our software-library for gait generation combined with sensory information on distant and near obstacles. The presented methods are applicable for nearly any walking machine with at least two symmetrical pairs of legs. The application of the developed algorithms and libraries are demonstrated within a simulation as well as with the six-legged walking machine Tarry II.
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References
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© 2000 Springer-Verlag Wien
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Frik, M., Buschmann, A., Guddat, M., Karata, M., Losch, D.C. (2000). Autonomous Locomotion of Walking Machines in Rough Terrain. In: Morecki, A., Bianchi, G., Rzymkowski, C. (eds) Romansy 13. International Centre for Mechanical Sciences, vol 422. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2498-7_35
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DOI: https://doi.org/10.1007/978-3-7091-2498-7_35
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-2500-7
Online ISBN: 978-3-7091-2498-7
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