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Title: Mechatronic system and implementation for intelligent walking machines
Authors: Yang, Aiqiang
Keywords: DRNTU::Engineering::Mechanical engineering::Robots
Issue Date: 2003
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.
Rights: Nanyang Technological University
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:MAE Theses

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