Analytically-founded yaw control algorithm for walking on uneven terrain applied to a hexapod robot (CROSBI ID 269487)
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Podaci o odgovornosti
Fućek, Luka ; Kovačić, Zdenko ; Bogdan, Stjepan
engleski
Analytically-founded yaw control algorithm for walking on uneven terrain applied to a hexapod robot
This article presents a new control algorithm for the omnidirectional motion of a legged robot on uneven terrain based on an analytical kinematic solution without the use of Jacobians. In order to control the robot easily and efficiently in all situations, a simplified circle-based workspace approximation has been introduced. Foot trajectories for legged robot movement were generated on concentric circular paths around an analytically computed common centre of motion. This systematic motion model, together with new gait control variables that can be changed during legged robot motion, enabled the implementation of a new adaptive gait phase control algorithm, as well as the addition of algorithms for ground-level adaptation, 3-dimensional map-based step adjustment and fusion of all corrections to establish and/or maintain foot contact with the ground. The method being applicable to different legged robot designs was performed and tested on the laboratory prototype of a hexagonal hexapod robot, and the results of the experiments showed the practical value of the proposed adaptive yaw control method (available also as a video supplement).
Legged robot, hexapod robot, yaw control, uneven terrain, walking gait adaptation
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Podaci o izdanju
16 (3)
2019.
1-15
objavljeno
1729-8806
1729-8814
10.1177/1729881419857997
Povezanost rada
Elektrotehnika, Temeljne tehničke znanosti