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...
| Autor principal: | |
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| Outros Autores: | , , , |
| Formato: | bookPart |
| Idioma: | eng |
| Publicado em: |
2022
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| Assuntos: | |
| Texto completo: | https://hdl.handle.net/1822/77635 |
| País: | Portugal |
| Oai: | oai:repositorium.sdum.uminho.pt:1822/77635 |