Abstract
This paper deals with mechanical problems that appear in realistic walking machines. Flexion in links and joints produces a change in body attitude and position which must be corrected. This phenomenon is difficult to model, therefore, sensors must be used. This paper proposes an attitude/position control strategy for a walker that uses a class of periodic gaits known as wave-crab gaits. To perform this controlling action, sensors such as contact sensors, inclinometers and joint position sensors are employed. The main point of this paper is to analyze the phenomenon and to describe the proposed algorithms and the experimental results obtained with a quadruped walking machine named RIMHO.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
