Legged Locomotion Control of an Under-Actuated Eccentric Paddle Mechanism with Torso Stabilization
Yanqiu Zheng,Longchuan Li,Shugen Ma,Yanqiu Zheng,Longchuan Li,Shugen Ma
Rescue robots require versatility and the capability to operate in various environments to carry out a diverse set of tasks effectively. The eccentric paddle (ePaddle) mechanism stands out for its high efficiency and adaptability. Generally, it is designed as a quadruped robot with a combined structure for fully-actuated control, this approach is often both inefficient and inflexible due to the re...
