Title :
Towards omnidirectional locomotion strategy for hexapod walking robot
Author :
Seljanko, Filipp
Author_Institution :
Dept. of Comput. Control, Tallinn Univ. of Technol., Tallinn, Estonia
Abstract :
In this paper the principles of omnidirectional locomotion strategy for maneuvering legged walking robots are presented. Author proposed and implemented the idea of using virtual leading edges for movement calculations of a legged robot. MATLAB simulation was used to prove the efficiency of the proposed strategy.
Keywords :
legged locomotion; motion control; MATLAB simulation; hexapod walking robot; legged walking robot maneuver; movement calculation; omnidirectional locomotion strategy; virtual leading edge; Actuators; Image edge detection; Legged locomotion; Robot vision systems; Trajectory; Turning; legged locomotion; locomotion strategy; robot control;
Conference_Titel :
Safety, Security, and Rescue Robotics (SSRR), 2011 IEEE International Symposium on
Conference_Location :
Kyoto
Print_ISBN :
978-1-61284-770-2
DOI :
10.1109/SSRR.2011.6106787
