Title :
Terrain following control of self-contained semi-fixed gait hexapod walking robot
Author :
KOYACHI, Noriho ; Adachi, Hironori ; Nakamura, Tatsuya ; Nakano, Eiji
Author_Institution :
Mech. Eng. Lab., AIST, MITI, Tsukuba, Japan
Abstract :
The paper provides a control algorithm for terrain following of the self-contained semi-fixed gait hexapod walking machine MELCRAB-2. MELCRAB-2 uses decoupled freedoms of the leg mechanism for the body-propelling motion and the terrain-adapting motion. The mechanism simplifies the drive and control of the walking machine over rough terrain. The geometry of the leg mechanism is described, and its inverse kinematics is solved analytically. An algorithm for following the terrain and adjusting the body altitude is introduced
Keywords :
kinematics; mobile robots; navigation; MELCRAB-2; body-propelling motion; inverse kinematics; rough terrain; self-contained semi-fixed gait hexapod walking robot; terrain following; terrain-adapting motion; Actuators; Couplings; Geometry; Laboratories; Leg; Legged locomotion; Mechanical engineering; Motion control; Propulsion; Robot kinematics;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262406
