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Force control for legged robots

: Schmucker, U.; Schneider, A.; Ihme, T.

Volltext urn:nbn:de:0011-px-149233 (390 KByte PDF)
MD5 Fingerprint: 3bb76019385c054f1a50d2d35c1a6c29
Erstellt am: 04.10.1999

Guglielmi, M. ; International Federation of Automatic Control -IFAC-:
SYROCO '97. 5th IFAC Symposium on Robot Control. Preprints
Nantes, 1997
Symposium on Robot Control (SYROCO) <5, 1997, Nantes>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IFF ()
active vehicle suspension; force balance; force control; walking

This paper presents the force control for a six-legged vehicle. Two control schemes are considered - control of foot force distribution and control of body motion. The experimental results of motions for two six-legges robots - rectangular and hexagonal shaped - are presented.