Obstacle avoidance in a simple hopping robot
Conference Paper, Proceedings of 9th International Conference on Climbing and Walking Robots (CLAWAR '06), September, 2006
Abstract
Obstacle avoidance in bipedal robots is achieved with the help of sensory feedback and closed loop control. Although computational power increased exponentially during the last years it is still the limiting factor for dynamic locomotion in uneven terrain. We introduce a simple robot architecture based on compliant leg behavior. With minimal sensory feedback we can derive stable 2D locomotion. By tuning a single parameter we can adjust the hopping height which can be used for obstacle avoidance.
BibTeX
@conference{Dittrich-2006-102748,author = {E Dittri.ch and Hartmut Geyer and A. Karguth and A. Seyfarth},
title = {Obstacle avoidance in a simple hopping robot},
booktitle = {Proceedings of 9th International Conference on Climbing and Walking Robots (CLAWAR '06)},
year = {2006},
month = {September},
}
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