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A legged system that can negotiate moderately uneven terrain without human intervention or a vision-based control system can allow those resources, if available, to be concentrated on high-level tasks. This paper presents results of preliminary research on the application of a Force Threshold-based Position (FTP) Controller on an upright quadruped system blindly walking on irregular terrain. The algorithm...
In this paper, an approximate inverse algorithm is described to calculate the dynamic cutting force applied on the complex free-form contour pre-generation. In traditional contour milling process, cutting force can be generally determined by installing force transducers or sensors. However, conveniently and easily controllable tool is one of important considerations in complex contours generation...
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