DocumentCode
2668668
Title
Design and implementation of a hexapod with 2-Degree-Of- Freedom legs and its fuzzy-controller for the obstacle avoidance
Author
Rajput, Jahanzeb ; Hasan, Kazi Mahmud
Author_Institution
Nat. Eng. & Sci. Comm., Pakistan
fYear
2009
fDate
9-11 April 2009
Firstpage
1
Lastpage
6
Abstract
In this work, the design of a six-legged walking machine, named MPS-I, is presented, where a hexapod with 2-Degree-Of-Freedom (DOF) legs is designed and implemented. To make the MPS-I intelligent, a fuzzy logic based controller design is discussed and its implementation is presented. This controller makes MPS-I capable of easily navigating through obstacles.
Keywords
collision avoidance; control system synthesis; fuzzy control; intelligent control; legged locomotion; MPS-I six-legged walking machine; degree-of-freedom leg; fuzzy logic controller design; hexapod; intelligent control; obstacle avoidance; walking robot design; Design engineering; Fuzzy logic; Insects; Intelligent robots; Leg; Legged locomotion; Mobile robots; Navigation; Robot kinematics; Servomechanisms; Biologically-Inspired Robots; Fuzzy logic; Hexapod; Legged Robots; Obstacle avoidance;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical Engineering, 2009. ICEE '09. Third International Conference on
Conference_Location
Lahore
Print_ISBN
978-1-4244-4360-4
Electronic_ISBN
978-1-4244-4361-1
Type
conf
DOI
10.1109/ICEE.2009.5173164
Filename
5173164
Link To Document