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Journal of Control Science and Engineering
Volume 2011, Article ID 783741, 12 pages
http://dx.doi.org/10.1155/2011/783741
Research Article

An Approach to Stable Walking over Uneven Terrain Using a Reflex-Based Adaptive Gait

1National University of Sciences and Technology, Islamabad 44000, Pakistan
2Mechatronics Engineering Department, College of Electrical & Mechanical Engineering, Peshawar Road, Rawalpindi 46000, Pakistan

Received 9 February 2011; Revised 25 April 2011; Accepted 25 May 2011

Academic Editor: Zhiyong Chen

Copyright © 2011 Umar Asif and Javaid Iqbal. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

This paper describes the implementation of an adaptive gait in a six-legged walking robot that is capable of generating reactive stepping actions with the same underlying control methodology as an insect for stable walking over uneven terrains. The proposed method of gait generation uses feedback data from onboard sensors to generate an adaptive gait in order to surmount obstacles, gaps and perform stable walking. The paper addresses its implementation through simulations in a visual dynamic simulation environment. Finally the paper draws conclusions about the significance and performance of the proposed gait in terms of tracking errors while navigating in difficult terrains.