Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
10326896 | Robotics and Autonomous Systems | 2005 | 18 Pages |
Abstract
In this paper, we investigated the effects of the friction condition on walking pattern and energy efficiency, and based on the results, we proposed two new “slip-adaptive” strategies for generating a slip-adaptive walk. The first strategy for a slip-adaptive walk uses a slip reflex via a Central Pattern Generator (CPG) to change the walking pattern. The second strategy for a walk uses a force control to immediately compensate a slip. Using these strategies, a walk, which is adaptive to varying friction conditions and slips, becomes possible. The validity of the proposed method is confirmed through simulation and experimentation.
Keywords
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Hiroshi Takemura, Masato Deguchi, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara,