Abstract:Design of the locomotion control system for the LOCH robot is presented in this paper. Gait planning and control algorithm for uneven terrain is also considered. The LOCH robot is an adult-sized biped humanoid robot. It adopts the distributed control structure based on CAN bus, and uses a Linux operating system as the software platform. The architecture of both the hardware and software system is introduced. The emphasis is then put onto the biped planning and control. An on-line planner is designed on the bas… Show more
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