Mechatronic system and implementation for intelligent walking machines

Abstract

As position control alone is not sufficient for machine walking, force control. is therefore suggested. The foot force control allows better force distribution among the legs and therefore reduces the chance of overloading the leg actuators. However, force control is still a problem in manipulators and walking machines during the contact with obstacles, partly due to the high stiffness between motor and load. Small changes in position will cause big changes in force, therefore the system is likely to be unstable.