Biorobotics Laboratory BioRob

Salamander trying to climb a slope without sensory feedback

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João Silvério - Biorob - 2011



The robot limbs should slow down during the stance phase. In the openloop controller, the best angles for the start and stop of the stance phase have been determined on a flat terrain. Using the same controller on a 20° slope, these angles are wrong and the robot cannot move forward.