Terrain-adaptive gait for walking machines
International Journal of Robotics Research
Machines That Walk: The Adaptive Suspension Vehicle
Machines That Walk: The Adaptive Suspension Vehicle
Biped Locomotion by Reduced Ankle Power
Autonomous Robots
International Journal of Robotics Research
Estimation of optimal feet forces and joint torques for on-line control of six-legged robot
Robotics and Computer-Integrated Manufacturing
Supporting locomotive functions of a six-legged walking robot
International Journal of Applied Mathematics and Computer Science - SPECIAL SECTION: Efficient Resource Management for Grid-Enabled Applications
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Walking robots possess important inherent advantages as autonomous systems, and many techniques have been developed during the last three decades to improve these mobile systems significantly. However, when robots attempt to walk through realistic scenarios, some techniques exhibit important shortcomings. One such shortcoming is to define the robot's quasi-static-stability margin using only the geometric parameters of the robot, neglecting the influence of real systems' motor-torque and power-consumption limitations. This paper reviews quasi-static stability theory for walking robots, illustrates real problems through simulation and experiments using real walking machines, and proposes a new concept of quasi-static stability that takes into consideration some of the robot's intrinsic parameters. The resulting stability measurement can improve efficiency in terms of robot design and power consumption, two aspects that are of paramount importance in autonomous walking robots for real applications.