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Towards running robots for discontinuous terrain


Reference:

Bhatti, J., Iravani, P., Plummer, A. R. and Sahinkaya, M. N., 2012. Towards running robots for discontinuous terrain. In: Herrmann, G., Studley, M., Pearson, M., Conn, A., Melhuish, C., Kim, J.-H. and Vadakkepat, P., eds. Advances in Autonomous Robotics. Berlin, Germany: Springer, pp. 461-462. (Lecture Notes in Computer Science; 7429/2012)

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    Official URL:

    http://dx.doi.org/10.1007/978-3-642-32527-4_59

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    Abstract

    Planar control is an important first step in the development of more complex running robots. This extended abstract describes a technique for control of a one-legged planar robot hopping over discontinuous surfaces. In simulations the robot is tasked with traversing across terrain which provides limited surface for foot placement. The robot has to hop between foot placement surfaces placed at varying distances and heights. The controller has to adjust leg landing angle and leg extension in order to produce the parabolic flight trajectory necessary to land at the next targeted foot placement spot.

    Details

    Item Type Book Sections
    CreatorsBhatti, J., Iravani, P., Plummer, A. R. and Sahinkaya, M. N.
    EditorsHerrmann, G., Studley, M., Pearson, M., Conn, A., Melhuish, C., Kim, J.-H. and Vadakkepat, P.
    DOI10.1007/978-3-642-32527-4_59
    Related URLs
    URLURL Type
    http://www.scopus.com/inward/record.url?eid=2-s2.0-84865024969&partnerID=8YFLogxKUNSPECIFIED
    DepartmentsFaculty of Engineering & Design > Mechanical Engineering
    Publisher StatementBhatt_TAROS_2012.pdf: The original publication is available at www.springerlink.com
    RefereedNo
    StatusPublished
    ID Code31422

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