DocumentCode
3162162
Title
Six-legged robot for service operations
Author
Schmucker, U. ; Schneider, A. ; Ihme, T.
Author_Institution
Fraunhofer Inst. for Factory Oper. & Autom., Magdeburg
fYear
1996
fDate
9-11 Oct 1996
Firstpage
135
Lastpage
142
Abstract
New results on the development of an adaptive six-legged hexagonal walking robot and its control system are presented. The major part of the paper considers control of foot force distribution and control of body motion based on the information about force foot reactions and the information about the main force vector acting on the robot´s body. Inserting and drilling operations based on the force control are considered
Keywords
adaptive control; force control; hierarchical systems; legged locomotion; mobile robots; robot kinematics; adaptive six-legged hexagonal walking robot; body motion control; control system; drilling operations; foot force distribution control; force control; insertion operations; main force vector; Control systems; Foot; Force control; Leg; Legged locomotion; Mobile robots; Motion control; Robot kinematics; Robot sensing systems; Robotics and automation;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Mobile Robot, 1996., Proceedings of the First Euromicro Workshop on
Conference_Location
Kaiserslautern
Print_ISBN
0-8186-7695-7
Type
conf
DOI
10.1109/EURBOT.1996.551892
Filename
551892
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