Obstacle avoidance using virtual impedance wall for limb mechanism robot

Abstract

An obstacle avoidance method using virtual impedance wall is proposed for multi-legged robot. The swing leg employs compliance control to avoid the collided object and the robot keeps the moving direction as much as possible while swing legs keep a preferred operating region. The preferred operating region is surrounded with virtual impedance wall. When the… (More)
DOI: 10.1109/ROBIO.2009.5420603

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