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Adaptive Locomotion on Uneven Terrains

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Humanoid Robotics: A Reference

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Abstract

The main advantage of legs over other modes of locomotion, like tracks and wheels, is adaptability to a large variety of terrains. Humanoids and other legged robots can potentially navigate stairs, scramble over rocks, step through thick foliage, and even climb vertical structures like ladders and trees. But it is challenging to enable such forms of locomotion, because the robot must sense the environment and adapt its motion strategies accordingly. This chapter will discuss systems and technical approaches to adaptive locomotion, ranging from classical approaches to the state-of-the-art. Its goal is to provide a high-level survey of the software architecture, mathematical modeling, approaches, and implementation of the major components of terrain-adaptive systems.

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Author information

Authors and Affiliations

  1. Electrical and Computer Engineering (ECE); Mechanical Engineering and Materials Science (MEMS), Duke University, 140 Science Dr, Durham, NC, 27708, USA

    Kris Hauser

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  1. Kris Hauser
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Correspondence to Kris Hauser .

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Editors and Affiliations

  1. Intuitive Surgical , Sunnyvale, California, USA

    Ambarish Goswami

  2. Singapore, Singapur, Singapore

    Prahlad Vadakkepat

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Hauser, K. (2017). Adaptive Locomotion on Uneven Terrains. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7194-9_61-1

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  • DOI: https://doi.org/10.1007/978-94-007-7194-9_61-1

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-7194-9

  • Online ISBN: 978-94-007-7194-9

  • eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering

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