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심갑종,이상희 江原大學校 産業技術硏究所 1991 産業技術硏究 Vol.11 No.-
In this paper, a control algorithm is discussed when the quadruped walking robot walks over the unknown soft ground. Firstly, it estimated the relationship between the foot force and the ground sinkage at the leg-placing phase. Secondly, the generarted soil property is aplied to the leg-supporting phase. If the attitude angle is changed by incorrect ground sinkage compensation, the control algorthm adjusts the attitude angle using simplified orientation orientation matrix.