Realization of improved locomotion task for multi-legged robot.
Abstract
It is shown that by using force information, the multi-legged robot becomes possible tj solve a large number of improved locomotion tasks.Force control is needed to increase the adaptability of the legged robot to irregular terrain and to distribute the foot force during locomotion over rigid and soft soil. The algorithms based on the information aboit the vectors of main force acting on the robot feet have been developed.