An Omnidirectional Control Algorithm for Walking Machines Based on a Wave-Crab Gait
Legged machines are inherently omnidirectional vehicles, i.e., they have the ability to move in any direction by modifying their foot trajectories and/or leg sequence. The bibliography contains diverse omnidirectional control algorithms, depending on the gait -.
KeywordsTransfer Phase Return Time Stability Margin Support Phase Duty Factor
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