Terrain adaptive motion and free gait of
✍
A. Halme; K. Hartikainen; K. Kärkkäinen
📂
Article
📅
1994
🏛
Elsevier Science
🌐
English
⚖ 749 KB
A six-legged hydraulic walking machine, called MECANT I, is introduced. It has been developed for research purposes in outdoor environments. The paper describes the motion planning method used. It is based on a "top-down" appcoach where the vehicle body motion control is executed through the body mo