A CONTROL ALGORITHM FOR HEXAPOD WALKING MACHINE OVER SOFT GROUND

被引：7
|
作者：
KANEKO, M [1 ]
TANIE, K [1 ]
THAN, MNM [1 ]
机构：
[1] UNIV TECHNOL MALAYSIA,FAC ELECT ENGN,KUALA LUMPAR,MALAYSIA
来源：
IEEE JOURNAL OF ROBOTICS AND AUTOMATION | 1988年 / 4卷 / 03期
关键词：
CONTROL; MECHANICAL VARIABLES - Forces - MATHEMATICAL TECHNIQUES - Algorithms - ROBOTS; INDUSTRIAL; -; Mobile; SENSORS;
D O I：
10.1109/56.790
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A control algorithm is presented for a hexapod walking machine, with alternating tripod-gait, proceeding over soft ground. The control algorithm is based on a foot-force sensing and is composed of two parts. The first part, which is applied to the leg alternating phase, confirms the support of body weight and generates the ground model using internal sensors. The second, which is applied to the body-propelling phase, compensates for the additional ground-sinkage due to the change of supporting force using the generated ground model. The proposed control algorithm is incorporated into the hexapod walking machine (MELWALK-III) and some basic experiments are performed to demonstrate the effectiveness of the algorithm for three types of ground simulations.
引用
收藏
页码：294 / 302
页数：9
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