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This paper shows a new method for the hybrid position-force control of robots with compliance function on six axis of freedom degrees in system multi-microprocessor in order to obtain high performances. For this purpose kinematics and kinetostatics analysis are performed, and the mathematic model of the inverted kinematics is determined for controlling the(More)
Gaits study is a fundamental part of legged vehicle research. Legged locomotion has been used by biological systems for hundreds of millions of years In contrast, wheeled locomotion vehicles have only a history of several thousand years. Wheeled vehicles are so familiar and ubiquitours in our modern way of life, and have been developed to such level of(More)
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