ARTIFICIAL RESTRAINT SYSTEMS FOR WALKING AND RUNNING ROBOTS: AN OVERVIEW

摘要

Many efforts to develop walking and running robots utilize a boom or other device to catch the robot when it falls, sense the position of the robot, and constrain the robot to operate in a two dimensional plane. However, publications usually focus on the robot, and the restraint system remains undocumented. Each group must start from scratch, or rely on word of mouth to build on the experience of others. This paper focuses solely on the artificial restraint system for legged robots, with discussion of various design options and documentation of existing systems.