Force control for walking on soft terrains

    Research output: Contribution to journalArticleScientificpeer-review

    4 Citations (Scopus)


    Force control of walking machines is essential in a natural soft and uneven terrain. A load adaptive PI force control method for the hydraulic actuation system of MECANT I has been developed. The I term of the controller is changed according to the desired load. Force control satisfies the support requirement also when a leg penetrates the terrain. A method to distribute support forces in an optimal manner has been developed. A rule based altitude controller and a dead-zone and saturation based attitude controller calculates the desired body forces. Walking tests on uneven wet sand fields show the useful applicability of the method.
    Original languageEnglish
    Pages (from-to)165-172
    Issue number2
    Publication statusPublished - 1996
    MoE publication typeA1 Journal article-refereed


    • walking machines
    • force control
    • soft&uneven terrain.


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