The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents a dynamic stability analysis method for a trotting quadruped robot on unknown rough terrains based on Lyapunov theory of switching system. The dynamic model of a trotting quadruped robot is built as a nonlinear switching system. In a single stance phase, the dynamic model is approximated as a 3D seven-link mechanism and a linear inverted pendulum, and a contact force distribution/control...
This paper presents a compliant landing control strategy for a trotting quadruped robot on unknown rough terrains based on contact force distribution/control algorithm. As joint actuator, the model of hydraulic cylinder is identified by using frequency response method. The compliant control strategy consists of three control loop: outer-loop is position and orientation of body control loop, in which...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.