抄録
This paper addresses on a hunch of control scheme for multi-legged robots to traverse uneven terrain based on observation of the terrain, planning contact points, and walking control. A depth camera is used to observe the terrain. The contact points planning is based on graph search algorithm, A* algorithm. The walking control is based on a decentralized control, Follow-the-Contact-Point gait control. The proposed control scheme is verified by a computer simulation and experimental result.
