Gait sequence generation of a hybrid wheeled-legged robot for negotiating discontinuous terrain

Abstract

In this paper we develop an algorithm to generate gait sequences to negotiate a discontinuous terrain for a hybrid 4-wheeled legged robot. The gait sequence comprises two main steps - normal force redistribution and hybrid position-force control. The robot climbs the discontinuity one leg at a time. This requires that the entire load of the robot is taken… (More)
DOI: 10.1109/CCA.2013.6662842

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@article{Singh2013GaitSG, title={Gait sequence generation of a hybrid wheeled-legged robot for negotiating discontinuous terrain}, author={Sartaj Singh and K. Madhava Krishna}, journal={2013 IEEE International Conference on Control Applications (CCA)}, year={2013}, pages={766-771} }