Abstract
Due to the irregularity of ground, a walking robot suffers from the mechanical shock and slippage, which cause the instability of walking. A jointed-leg type walking robot is more vulnerable to those problems than the pantograph type because of its heavy leg. In order to secure the walking stability for a jointed-leg type quadruped robot, a balancing algorithm consisting of the leg compliance control and the body posture control is implemented in this paper.
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© 2012 Springer-Verlag Berlin Heidelberg
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Yi, S. (2012). Compliance Control for Jointed-Leg Type Quadruped Robot. In: Kim, Th., Ramos, C., Abawajy, J., Kang, BH., Ślęzak, D., Adeli, H. (eds) Computer Applications for Modeling, Simulation, and Automobile. MAS ASNT 2012 2012. Communications in Computer and Information Science, vol 341. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-35248-5_1
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DOI: https://doi.org/10.1007/978-3-642-35248-5_1
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-35247-8
Online ISBN: 978-3-642-35248-5
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