Hexapod posture control for navigation across complex environments

Hexapod locomotion in unstructured environments relies on an efficient posture adjustment with the terrain topology. This paper presents a strategy to adapt the hexapod torso orientation through ground plane estimation. With an Inertial Measurement Unit (IMU) and the robot kinematic model, the curre...

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Bibliographic Details
Main Author: Coelho, Joana (author)
Other Authors: Dias, Bruno (author), Lopes, Gil (author), Ribeiro, A. Fernando (author), Flores, Paulo (author)
Format: bookPart
Language:eng
Published: 2022
Subjects:
Engenharia e Tecnologia::Engenharia Mecânica
Online Access:https://hdl.handle.net/1822/77635
Country:Portugal
Oai:oai:repositorium.sdum.uminho.pt:1822/77635

Internet

https://hdl.handle.net/1822/77635

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