Joystick Force Feedback based on Proximity to the Linearised Workspace of the Four-legged Robot ALDURO

In: Proceedings of the 4th International Conference on Climbing and Walking Robots CLAWAR, 2001
University Duisburg-Essen, Faculty of Engineering, Chair of Mechatronics Lotharstraße 1, 47057 Duisburg, Germany (2001)
Buchaufsatz / Kapitel / Fach: Maschinenbau
The aim of this paper is to investigate possibilities for controlling a four-legged walking robot (ALDURO) with a force feedback joystick. A way to ¯lter motion induced errors out of the input data is shown, as well as ways to prevent them by using force feedback. Force feedback can also be used to supply the operator with information about the workspace of ALDURO. A linearised approximation of the workspace of a leg, and a basic approach
to extend it to the whole robot are described.