Title :
Six-legged robot for service operations
Author :
Schmucker, U. ; Schneider, A. ; Ihme, T.
Author_Institution :
Fraunhofer Inst. for Factory Oper. & Autom., Magdeburg
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;
Conference_Titel :
Advanced Mobile Robot, 1996., Proceedings of the First Euromicro Workshop on
Conference_Location :
Kaiserslautern
Print_ISBN :
0-8186-7695-7
DOI :
10.1109/EURBOT.1996.551892
