Force control for walking on soft terrains

Robotica

Volumn 14, Issue 2, 1996, Pages 165-172

  Lehtinen, Hannu ^a  

^a VTT TECHNICAL RESEARCH CENTRE OF FINLAND   (Finland)

Author keywords

Force control; Soft Uneven terrain; Walking machines

Indexed keywords

ACTUATORS; ADAPTIVE CONTROL SYSTEMS; COMPUTER NETWORKS; FORCE CONTROL; HYDRAULIC CONTROL EQUIPMENT; INTELLIGENT CONTROL; OPTIMAL CONTROL SYSTEMS; REMOTE CONTROL; SERVOMECHANISMS; TWO TERM CONTROL SYSTEMS;

ADAPTIVE PROPORTIONAL INTEGRAL FORCE CONTROL METHOD; ALTITUDE CONTROLLER; HYDRAULIC ACTUATORS; SOFT TERRAIN; WALKING MACHINES;

ROBOTS;

EID: 0030109179     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/s026357470001907x     Document Type: Article

References (9)

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8. H. Lehtinen, "Force Based Motion Control of a Walking Machine", 1994, Espoo: Technical Research Centre of Finalnd, 150 p. + app. 8 p, (VTT Publications 179), (Doctor's Thesis). Ph.D. Thesis (Technical Research Centre of Finland, Espoo, 1994).
9. A. Halme, K. Hartikainen & K. Kärkkäinen, "Terrain Adaptive Motion and Free Gait of a Six-legged Walking Machine" Preprints of the 1st IFAC Int. Workshop in Intelligent Autonomous Vehicles, Hampshire, Pergamon Press, Oxford (April, 1993) pp. 1-7.