Logical sensors and control system programming for an autonomous biped walking robot

Author

Figliolini, G. ; Ceccarelli, M. ; Aymerich, M. T Llorens

Author_Institution

Lab. of Robotics & Mech., Cassino Univ., Italy

Volume

2

fYear

2000

fDate

2000

Firstpage

1346

Abstract

A new prototype of biped walking robot, named as EP-WAR2 (Electropneumatic WAlking Robot), has been built at the Laboratory of Robotics and Mechatronics in Cassino. This prototype has been provided for logical sensors in order to avoid different obstacles which have been classified as right and left corners, right and left walls, and entire wall. A walking analysis of EP-WAR2 has been carried out for each type of these obstacles. The control system is given by a PLC (Programmable Logic Controller). Thus, a specific flow-chart for PLC programming has been based on several subroutines in order to foresee in advance and control several situations during the walking motion. External sensor system and PLC programming have been tested on autonomous motion of EP-WAR2 in unknown environments

Keywords

automatic guided vehicles; industrial robots; mechatronics; mobile robots; sensors; EP-WAR2; PLC programming; autonomous biped walking robot; autonomous motion; biped walking robot; control system programming; electropneumatic walking robot; logical sensors; walking analysis; Control systems; Laboratories; Legged locomotion; Logic programming; Mechatronics; Programmable control; Prototypes; Robot programming; Robot sensing systems; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.893208

Filename

893208