An Interactive Computer-Control System for a Quadruped Robot
While the mobility advantages of legged locomotion systems relative to wheeled or tacked systems are generally recognized, the complexity of the joint coordination control problem has retarded the development of useful legged vehicles. This paper reports the results of a computer simulation study in which a digital computer was used to generate commands to the individual joints of a quadruped robot in response to speed and direction signals from a human operator.
The paper includes a detailed exposition of the necessary calculations and a discussion of operator reaction to the proposed control scheme.
KeywordsDuty Factor Quadruped Robot Fourth International Symposium Gait Transition Legged Locomotion
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