Ramil Khusainov
Publications:
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Golousov S. V., Khusainov R. R., Savin S. I.
Compliant Control for Walking Robots with the Use of a Virtual Spring-Damper System
2019, Vol. 15, no. 4, pp. 477-485
Abstract
The paper deals with one of the modern challenges in walking robotics: moving across
a rough terrain where the geometry of the terrain is unknown and hence it is impossible to plan
precise trajectories for the robot feet in advance, before a collision with the supporting surface
occurs. In this paper, an algorithm for the dynamics correction of the foot trajectory based on
the compliant control is employed to deal with the problem. Additionally, to solve the problem
of dynamic correction of the foot trajectory, it also provides a biomorphic reaction force profile,
which might be a desired property for some applications.
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