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| FOOT MOVEMENT CONTROL OF WALKING MACHINES MODIFIED BY MEANS OF COMPOSITE CYCLOID METHOD |
| LIU Hongyi, SONG Weigang, PENG Zhaoxing |
| Mechanical engineering Institute Northeastern University |
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Abstract Based on the ground information obtained by proximity sensors,it is studied how the foot moves when the leg transfers its supporting point.Amedifled composite cycloid is proposed as the foot trajectory for solving the adaptive gaitproblem over rough terrain. Therefore,the abruptness and the impact betweenfoot and ground may be avoided,and adaptive gaits over rough terrain can be changed into simple periodicgaits,as to simplify the control strategy.
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Received: 06 October 1993
Published: 15 November 1994
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