Research on the Single-Leg Compliance Control Strategy of the Hexapod Robot for Collapsible Terrains

Legged robots often encounter the problem that the foot-end steps into empty spaces due to terrain collapse in complex environments such as mine tunnels and coal shafts, which in turn causes body instability. Aiming at this problem, this paper takes the hexapod robot as the research object and propo...

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Bibliografiske detaljer
Main Authors: Peng Sun, Yinwei He, Shaojiang Feng, Xianyong Dai, Hanqi Zhang, Yanbiao Li
Format: Artigo
Sprog:Inglês
Udgivet: MDPI AG 2025-05-01
Serier:Applied Sciences
Fag:
impedance control
hexapod robot
finite state machine
walking stability
vertical dynamics
Online adgang:https://www.mdpi.com/2076-3417/15/10/5312
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