✍ Scribed by A. Halme; K. Hartikainen; K. Kärkkäinen
No coin nor oath required. For personal study only.
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 motion planning which in turn is divided into two parts called profile tracking and terrain adaptation. The estimated support plane is used as a model of the local terrain. The kinematic constraints are included into the body path planning by applying a "plan-and-check" approach. A free gait planner based on a "state machine" approach is introduced. The planner uses a role-based method in determination of the time instant for changing the present support pattern and in selection of the new supIx~ting leg configuration.
📜 SIMILAR VOLUMES