HEXAPOD - SIX-LEGGED WALKING ROBOT CONTROLLED WITH TODA-RAYLEIGH LATTICE

被引：1

作者：

Piatek, Marcin ^{[1
]}

Turnau, Andrzej ^{[1
]}

机构：

[1] AGH Univ Sci & Technol, Fac Elect Engn Automat Comp Sci & Elect, Dept Automat, Mickiewicza 30 Av, PL-30059 Krakow, Poland

来源：

BIO-ALGORITHMS AND MED-SYSTEMS | 2012年 / 8卷 / 01期

关键词：

walking robot; walking algorithm; modelling; simulation; identification;

D O I：

10.2478/bams-2012-0006

中图分类号：

Q [生物科学];

学科分类号：

07 ; 0710 ; 09 ;

摘要：

Movement of six-legged robot is considered. The robot is built to conduct research on the control of different modes of walking with a particular focus on switching from one mode to another. The robot parameters are identified from real-time control experiments. A number of identical servo motors are responsible for the mobility of the hexapod. Therefore, in addition to the construction of hexapod and its control system and the ability to generate different gaits, it is important to create a simulation model of the hexapod including servo motors. The full state observer for the servo motor is an integral part of this model. Forward and backward kinematics of the robot legs is implemented. The six node Toda-Rayleigh lattice model is created and numerically simulated. The lattice is applied as the robot controller. Three different modes of robot gait are achieved. The algorithm used for the gait mode change is equipped with parameters that are experimentally chosen.

引用

页码：111 / 121

页数：11

共 50 条

[1] Hexapod - Six-legged walking robot controlled with toda-rayleigh lattice
AGH University of Science and Technology, Faculty of Electrical Engineering, Automatics, Computer Science and Electronics, Department of Automatics, Mickiewicza 30 av., Kraków
30-059, Poland
[J]. Bio-Algorithms Med-Syst., 1
[2] A six-legged robot controlled by ARS
Sanz, A
[J]. PROCEEDINGS OF THE SIXTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS I - III, 1997, : 1089 - 1093
[3] Six-legged walking robot for inspection tasks
Krenich, Stanislaw
Urbanczyk, Marcin
[J]. MECHATRONIC SYSTEMS, MECHANICS AND MATERIALS, 2012, 180 : 137 - 144
[4] Development of the six-legged walking and climbing robot SpaceClimber
Bartsch, Sebastian
Birnschein, Timo
Roemmermann, Malte
Hilljegerdes, Jens
Kuehn, Daniel
Kirchner, Frank
[J]. JOURNAL OF FIELD ROBOTICS, 2012, 29 (03) : 506 - 532
[5] Research on a six-legged walking robot with parallel mechanism
Ota, Y
Inagaki, Y
Yoneda, K
Hirose, S
[J]. 1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS, 1998, : 241 - 248
[6] Six-legged walking robot as a senior design project
[J]. International Journal of Mechanical Engineering Education, 1997, 25 (01):
[7] Control of a six-legged robot walking on abrupt terrain
Celaya, E
Porta, JM
[J]. 1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4, 1996, : 2731 - 2736
[8] POSITIVE VELOCITY FEEDBACK ON A SIX-LEGGED WALKING ROBOT
Schneider, Axel
Schilling, Malte
Cruse, Holk
Schmitz, Josef
[J]. MOBILE ROBOTICS-SOLUTIONS AND CHALLENGES, 2010, : 623 - 630
[9] A Six-Legged Walking Robot Inspired by Insect Locomotion
Jung, Yeongtae
Bae, Joonbum
[J]. INTELLIGENT ROBOTICS AND APPLICATIONS, PT II, 2013, 8103 : 257 - 264
[10] Humanitarian mine detection six-legged walking robot
Nonami, K
Huang, QJ
Komizo, D
Shimoi, N
Uchida, H
[J]. PROCEEDINGS OF THE THIRD INTERNATIONAL CONFERENCE ON CLIMBING AND WALKING ROBOTS, 2000, : 861 - 868

← 1 2 3 4 5 →