Abstract The main advantage of legs over other modes of locomotion, like tracks and wheels, is adaptability to a large variety of terrains. Humanoids and other legged robots can potentially navigate stairs, scramble over rocks, step through thick foliage, and even climb vertical structures like ladders and trees. But it is challenging to enable such forms of locomotion, because the robot must sense the environment and adapt its motion strategies accordingly. This chapter will discuss systems and technical approaches to adaptive locomotion, ranging from classical approaches to the state-of-the-art. Its goal is to provide a high-level survey of the software architecture, mathematical modeling, approaches, and implementation of the major components of terrain-adaptive systems.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Adaptive Locomotion on Uneven Terrains


    Contributors:

    Published in:

    Publication date :

    2018-10-10


    Size :

    20 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





    DRONE WITH LANDING CAPABILITY ON UNEVEN TERRAINS

    PARPARA DAVID | European Patent Office | 2022

    Free access

    Using pedestrians walking on uneven terrains for camera calibration

    Junejo, I. N. | British Library Online Contents | 2011


    EXHAUST DEVICE AND VEHICLE FOR TRAVEL ON UNEVEN TERRAINS

    TAJIMA ATSUSHI / ORIHASHI YOSHIHIKO | European Patent Office | 2022

    Free access

    Four-wheel drive special-shaped axle self-adaptive to uneven complex terrains of mountainous region

    CHEN YANHUI / BAN HUADIAN / LIN DELI et al. | European Patent Office | 2024

    Free access