By Houxiang Zhang
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Extra info for Climbing & walking robots : towards new applications
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P T A R A S R L U T I 1 0 - D O P N L A U 0 0 D 4. R. R. R. P I z-axes under z-axis position zero force control automatically changes according to the terrain profile (joint free) I possible damage to the driving mechanisms S Each segment supports its own weight so the supporting forces are evenly distributed Fig. 15. Comparison between position and force control in the z axis z-axes joints are free to slide D P O L N U D 1 0 - P. I R. T R P O L N U D R P O L N U D T R T 0 0 A L S T A R 4. 0 0 1 0 - 4 4.
I D D 5 S P U P O L N D T A R S 4. R. 1 0 - 0 - 0 0 D U P OL N T U P O L N D U 4. R. R A R A 4 1 0 - 0 1 T A R - 0 0 4. S R T A L L 1 0 - I 0 0 A 4. R. 4 R D U U P O L N P O L N T T R R A L T A R 4. 0 0 1 0 - 0 1 A I 1 0 - - 0 0 4. 0 0 R T A 4. R. 4 R A D U P O L N U P O L N R T A L T A R 4. T A R 4. 0 0 1 0 - 0 - 0 0 S 4. 4. 1 0 - R T A T A R 0 0 1 4. R . R. R. 4 R A D U P O L N U P O L N T 4. 1 0 - T A R 4. T A R 4. 0 0 1 0 - 0 - 0 0 S 4. T A R 0 0 R T A 4. R . R . P4 I 4. 1 0 - R T A 0 0 L 4.
I 4. 1 0 - R T A 0 0 L 4. R . P4 R T P O L N U D P T A R I S A L R I 1 0 - T 0 0 O P N L 4. R . R . R . R . R . S T T P O L N 1 0 - T 0 0 O P N L 4. R . R. 4 R U P O L N P O L N T T R R A L 0 0 1 0 - 0 1 A I L 1 0 - I 0 0 A S P4 L R 1 0 - T 0 0 O P N L 4. R . R . R . L D D 13 I F z2 0 F z3 0 F z4 0 F z5 0 800 400 0 F z6 S P I S I F z1 fz1 P 8 4 R A L 1 R I 4. 1 0 - R T A 0 0 F z0 0 L 4. R . R . P4 I 1 0 T T P O L N 0 0 1 0 - T 4. R . R . R . R 4. R . P4 R T P O L N U D 4 - Fz [N] T A R S 0 fz2 0 fz3 0 fz4 0 fz5 0 400 0 - 400 (d) Square of force [105 N2] U P OL N P OL N T R A A L 1 1 0 - 4.