Simulation of postural control for a walking robot

Abstract

Postural control is of utmost importance for walking robots, particularly for those that traverse rugged terrain. A dynamic model for locomotion in rugged terrain is presented. The model has 18 actuated degrees of freedom, plus six unactuated body translations and rotations to produce a total of 24 degrees of freedom. Nonlinear foot-terrain interaction… (More)

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Cite this paper

@article{Nagy1991SimulationOP, title={Simulation of postural control for a walking robot}, author={P. Nagy and Dmytro Manko and Shakinaz Desa and W. Whittaker}, journal={IEEE 1991 International Conference on Systems Engineering}, year={1991}, pages={324-329} }