Narrow Results

One of the central problems of motion control of walking robots is the distribution of force between legs and the organization of robot motion within margins of static stability. Support reactions need to be controlled during movements on undeveloped terrain. The force/torque sensor is an important component of the measuring system and force control and sliding contact with the ground uneven leg of the modular walking robot MERO. Determination of the real forces distribution in the shifting mechanisms of a walking locomotion system which moves in undeveloped terrain at low speed is necessary for the analysis of stability. The paper will analyze an intelligent sensor developed by the authors with an important role in the complex system control slipping when moving walking robot MERO on undeveloped terrain.