Force Sensing for Walking Robots

摘要

In this paper it is shown that by using force information, it becomes possible to solve a large number of tasks. Force control is needed to increase the adaptability of the vehicle to irregular terrain and to distribute the foot forces during locomotion over rigid and soft soil. Spatial movements of a legged robot's body are used for service tasks with constrained motion. The algorithms based on the information about the vectors of main force acting on the body have been developed. Experimental results are presented.