Logical sensors and control system programming for an autonomous biped walking robot

被引：0
|
作者：
Figliolini, G [1 ]
Ceccarelli, M [1 ]
Aymerich, MTL [1 ]
机构：
[1] Univ Cassino, DiMSAT, Lab Robot & Mechatron, I-03043 Cassino, Fr, Italy
来源：
2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS | 2000年
关键词：
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
A new prototype of biped walking robot, named as EP-WAR2 (Electropneumatic WAlking Robot), has been built at the Laboratory of Robotics and Mechatronics in Cassino. This prototype has been provided of logical sensors in order to avoid different obstacles which have been classified as right and left corners, right and left walls, and entire wall. A walking analysis of EP-WAR2 has been carried out for each type of these obstacles. The control system is given by a PLC (Programmable Logic Controller). Thus, a specific flow-chart for PLC programming has been based on several subroutines in or-der to foresee in advance and control several situations during the walking motion. External sensor system and PLC programming have been tested on autonomous motion of EP-WAR2 in unknown environments.
引用
收藏
页码：1346 / 1351
页数：6
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