An approach to stable walking over uneven terrain using a reflex-based adaptive gait

Authors:
Umar Asif;Javaid Iqbal
Affiliations:
National University of Sciences and Technology, Islamabad, Pakistan and Mechatronics Engineering Department, College of Electrical & Mechanical Engineering, Rawalpindi, Pakistan;National University of Sciences and Technology, Islamabad, Pakistan and Mechatronics Engineering Department, College of Electrical & Mechanical Engineering, Rawalpindi, Pakistan
Venue:
Journal of Control Science and Engineering
Year:
2011

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Abstract

This paper describes the implementation of an adaptive gait in a six-legged walking robot that is capable of generating reactive stepping actions with the same underlying controlmethodology as an insect for stable walking over uneven terrains. The proposed method of gait generation uses feedback data from onboard sensors to generate an adaptive gait in order to surmount obstacles, gaps and perform stable walking. The paper addresses its implementation through simulations in a visual dynamic simulation environment. Finally the paper draws conclusions about the significance and performance of the proposed gait in terms of tracking errors while navigating in difficult terrains.