Title :
Design and control of a walking machine
Author :
Subramanium, Narayanan ; Azarm, S. ; Tsai, L.W. ; Dayawansa, W.P. ; Farvardin, N. ; Tits, A.
Author_Institution :
Tata Elxsi Ltd., Bangalore, India
Abstract :
This paper discusses the modeling and control design aspects of a hexapod walking machine which is being built at the University of Maryland at College Park. We will discuss a scheme used for approximating the kinematic relationships in order to simplify the dynamic modeling, and for feedback linearization based control design in order to simplicity of implementation using a distributed computational architecture
Keywords :
control system synthesis; feedback; legged locomotion; linearisation techniques; mobile robots; robot dynamics; robot kinematics; distributed computational architecture; feedback linearization based control design; hexapod walking machine; kinematic relationships; Control design; Educational institutions; Educational robots; Feedback; Legged locomotion; Mechanical engineering; Process control; Robot sensing systems; Speech processing; Speech recognition;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.520912
