Force-Based Locomotion Control of Hexapod Robot
As a part of motion control categories as discussed in Chap. 1, force and impedance control play a main role in legged/walking robot walking on unstructured or uneven terrain. With active suspension configuration (legs), the strong role of legged/walking robot design is capable of passing through any uneven terrain as long as the obstacles are not achieved its maximum or minimum overall body height, if compare to the wheel-type robot. Therefore, force or impedance control is needed to make a dynamic response on each leg in order to identify the different level of the terrain or any sudden changes on the terrain. Moreover, this control is very crucial on the hidden area that could not be identified by a vision system via pre-scanning and localization.
KeywordsSwing Phase Impedance Control Rough Terrain Soft Ground Legged Robot
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