Implementing and testing a reasoning-based free gait algorithm in the six-legged walking machine, "MECANT"

Control Engineering Practice

Volumn 4, Issue 4, 1996, Pages 487-492

  Salmi, S ^a   Halme, A ^a  

^a AALTO UNIVERSITY   (Finland)

Author keywords

Free gaits; Reasoning; Walking machines

Indexed keywords

ALGORITHMS; HEURISTIC METHODS; HYDRAULIC MACHINERY; MOTION CONTROL; MOTION PLANNING; SYSTEM STABILITY;

REASONING BASED FREE GAIT ALGORITHM; SIX LEGGED WALKING MACHINE MECANT;

MOBILE ROBOTS;

EID: 0030125714     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/0967-0661(96)00030-5     Document Type: Article

References (5)

1. Halme, A., K. Hartikainen and K. Kärkkäinen (1994). Terrain adaptive motion and free gait of a six-legged walking machine. Control Eng. practice, Vol. 2 No. 2, pp.237-279.
2. Hartikainen, K., A. Halme, H. Lehtinen and K. Koskinen (1992). Control and Software Structures of a Hydraulic Six-Legged Machine Design for Locomotion in Natural Environment. Proceedings of IROS'92. pp590-596
3. Hartikainen, K. and A. Halme (1994). Control Design of a Six-legged Machine for Work Machine Applications. Tampere International Conference on Machine Automation, Tampere.
4. Lehtinen, H. (1994). Force Based Motion control of a Walking Machine, Dr. Thesis.
5. McGhee, R.B. and G.I. Iswandhi (1979). An Adaptive Locomotion of a Multilegged Robot over Rough Terrain. IEEE Transactions on System, Man and Cybernetics. Vol. SMC-9, no.4