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Controlling a One-Legged Robot to Clear Obstacles by Combining the SLIP Model with Air Trajectory Planning
Legged animals can adapt to complex terrains because they can step or jump over obstacles. Their application of foot force is determined according to the estimation of the height of an obstacle; then, the trajectory of the legs is controlled to clear the obstacle. In this paper, we designed a three-...
| Autores principales: | , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
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MDPI
2023
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| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9944870/ https://www.ncbi.nlm.nih.gov/pubmed/36810397 http://dx.doi.org/10.3390/biomimetics8010066 |