Finite state automaton based control system for walking machines

被引：6
|
作者：
Hussain, Razeen [1 ]
Zielinska, Teresa [1 ]
Hexel, Rene [2 ]
机构：
[1] Warsaw Univ Technol, Fac Power & Aeronaut Engn, Ul Nowowiejska 24, PL-00665 Warsaw, Poland
[2] Griffith Univ, Sch Informat & Commun Technol, Brisbane, Qld, Australia
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2019年 / 16卷 / 03期
关键词：
Walking machines; control system; real-time control; finite state machines; behaviour models; MODEL CHECKING; ARCHITECTURE;
D O I：
10.1177/1729881419853182
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Walking machines have proved to be an important invention as they do not require any prepared surface, making them ideal for applications involving unexplored environments. They are equipped with a large number of actuators and sensors to achieve a robust locomotion; thus, a systematic approach to designing their control system is required. This article presents a functional control structure based on the logic-labelled finite state automaton approach developed for walking machines. A general control structure is presented and a hexapod robot is used to verify the practicability of the design.
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页数：14
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