Force Sensor Based Locomotion of a Quadruped Walking Vehicle over Uneven Terrain

힘 센서를 이용한 4각 보행로보트의 비평탄로 보행에 관한 연구

This thesis presents a simple heuristic algorithm which can be applied. to a quadruped wafting vehicle for increasing the terrain adaptability. The proposed method controls a leg length which is in tranfer phase to maintain initial orientation of the robot body by using FSR type force sensors attached to foot-tips. Also, some basic experiments using the vehicle are performed to demonstrate the effectiveness of the algorithm.