Using proximity sensing in robot leg control

Abstract

Using a proximity ranging system to step over objects has been tested by using two sensors mounted on a Prototype Leg for the Adaptive Suspension Vehicle which is under development at the Ohio State University. The results show that the control algorithm provides the capability to step over many different types of objects at speeds of up to 100 in./ sec. Details of the hardware used, algorithm developed, and experimental results obtained are all shown in the paper.