A force threshold-based position controller for legged locomotion: Toward local leg feedback algorithms for robust walking on uneven terrain
M Palankar, L Palmer - Autonomous Robots, 2015 - Springer
Taking inspiration from local leg feedback control loops present in animal legs, a force
threshold-based position (FTP) controller is presented to aid with legged locomotion over …
threshold-based position (FTP) controller is presented to aid with legged locomotion over …
Crawling gait planning for a quadruped robot with high payload walking on irregular terrain
Walking on irregular terrain is usually a common task for a quadruped robot. It is however
difficult to control the robot in this situation as undesirable impulse force by collision between …
difficult to control the robot in this situation as undesirable impulse force by collision between …
Toward innate leg stability on unmodeled and natural terrain: Hexapod walking
M Palankar, L Palmer - 2012 IEEE/RSJ International …, 2012 - ieeexplore.ieee.org
A Force Threshold-based Position (FTP) controller is presented for cyclic legged locomotion
over irregular terrain. Force feedback in the form of threshold comparison is used to control …
over irregular terrain. Force feedback in the form of threshold comparison is used to control …
Trotting gait planning for a quadruped robot with high payload walking on irregular terrain
N Hu, D Huang, S Li, F Gao - 2014 International Joint …, 2014 - ieeexplore.ieee.org
Walking on irregular terrain is usually a common task for a quadruped robot. It is however
difficult to control the robot in this situation as undesirable impulse force by collision between …
difficult to control the robot in this situation as undesirable impulse force by collision between …
[图书][B] A distributed local-leg feedback algorithm for robust walking on uneven terrain
M Palankar - 2013 - search.proquest.com
Legged animals can traverse significantly more of the Earth's land mass than man-made
wheeled and tracked vehicles [1]. Their impressive mobility is largely due to multiple …
wheeled and tracked vehicles [1]. Their impressive mobility is largely due to multiple …
A force threshold-based position controller for legged locomotion over irregular terrain
M PALANKAR, L PALMER III - Adaptive Mobile Robotics, 2012 - World Scientific
Taking inspiration from biological studies on animal locomotion, a Force Threshold-based
Position (FTP) controller has been developed for cyclic legged locomotion over irregular …
Position (FTP) controller has been developed for cyclic legged locomotion over irregular …
Systems and methods for controlling walking robots
LR Palmer - US Patent 10,926,409, 2021 - Google Patents
(52) US CI. CPC B25J 9/1633 (2013.01); B25J 5700 (2013.01); YIOS 901/01 (2013.01)(58)
Field of Classification Search??? B25J 9/1633; B25J 5/00; Y10S 901/01 See application file …
Field of Classification Search??? B25J 9/1633; B25J 5/00; Y10S 901/01 See application file …
[PDF][PDF] Reducing the Control Burden of Legged Robotic Locomotion through Biomimetic Consonance in Mechanical Design and Control
CE Eaton - 2015 - core.ac.uk
The energy of a spring-mass system consists of the kinetic and potential energies of the
CoM and energy stored in the compressed spring (see Equation 1.1). For simplicity's sake …
CoM and energy stored in the compressed spring (see Equation 1.1). For simplicity's sake …