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

DOI10.1155/2011/783741MaRDI QIDQ763150zbMATH OpenOpenAlexWikidataFDO

Authors Umar Asif, Javaid Iqbal

Publication date 9 March 2012

Published in Journal of Control Science and Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2011/783741

zbMATH Keywords

adaptive gaitfeedback datasix-legged walking robotstable walking

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Robust stability (93D09)

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Cites work

• A Bayesian regression approach to terrain mapping and an application to legged robot locomotion

Cited in

(7)

• Accurate and robust body position trajectory tracking of six-legged walking robots with nonsingular terminal sliding mode control method
• Optimization of stability of humanoid robot NAO using ant colony optimization tuned MPC controller for uneven path
• A general kinematic-based walking algorithm of a hexapod robot on irregular terrain
• Distributed-force-feedback-based reflex with online learning for adaptive quadruped motor control
• Optimal impedance control based on body inertia for a hydraulically driven hexapod robot walking on uneven and extremely soft terrain
• Stable Dynamic Walking over Rough Terrain
• Modeling and analysis of a modular multilegged robot with improved fault tolerance and environmental adaptability

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