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A walking prescription for statically-stable walkers based on walker/terrain interactionThe walker/terrain interaction phenomena for the control of a statically stable walking machine are described. The algorithms, measures, and knowledge of walker/terrain interaction phenomena are then combined to form a prescription for how to walk on general terrain. This prescription consists of two parts: nominal control and reactive control. The function of nominal control is the evaluation and execution of planned motions, based on predicted foot force redistributions, to achieve reliable locomotion. The function of reactive control is the monitoring of walker/terrain interaction in real-time to detect anomalous conditions and then respond with the appropriate reflexive actions. Simulations and experiments have been used to test and verify various aspects of the walking prescription.
Document ID
19930051511
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Nagy, Peter V.
(NASA Headquarters Washington, DC United States)
Whittaker, William L.
(NASA Headquarters Washington, DC United States)
Desa, Subhas
(Carnegie Mellon Univ. Pittsburgh, PA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: 1992 IEEE International Conference on Robotics and Automation, 8th, Nice, France, May 12-14, 1992, Proceedings. Vol. 1 (A93-35501 13-63)
Publisher: IEEE Computer Society Press
Subject Category
Mechanical Engineering
Accession Number
93A35508
Funding Number(s)
CONTRACT_GRANT: NAGW-1175
Distribution Limits
Public
Copyright
Other

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