DocumentCode
3341309
Title
Stair-climbing control of self-contained hexapod with semi-fixed gait
Author
KOYACHI, Noriho ; Adachi, Hironori ; Nakamura, Tatsuya ; Nakano, Eiji
Author_Institution
Mech. Eng. Lab., MITI, Ibaraki, Japan
fYear
1991
fDate
19-22 June 1991
Firstpage
747
Abstract
A semi-fixed gait hexapod MELCRAB-2 was constructed as a self-contained walking robot to verify the usefulness of two strategies on actuator configuration design to solve the coupling problem in multi joint leg mechanism: ´gravitationally decoupled actuation´ and ´motion decoupled actuation´. The paper provides the tactical algorithms to control it like the way to change the stride to adapt the various stairs. As MELCRAB-2 is a self-contained walking robot, these control schemes run on an on-board computer.<>
Keywords
computerised control; mobile robots; actuator configuration design; computerised control; coupling problem; gravitationally decoupled actuation; mobile robots; motion decoupled actuation; self-contained hexapod; semi-fixed gait; semi-fixed gait hexapod MELCRAB-2; stair-climbing control; tactical algorithms; Actuators; Algorithm design and analysis; Couplings; Kinetic theory; Leg; Legged locomotion; Mechanical engineering; Motion control; Propulsion; Robot control;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240586
Filename
240586
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