DocumentCode :
505083
Title :
Locomotion control of multi-legged robot based on Follow-the-Contact-Point gait
Author :
Niwa, Tomoya ; Inagaki, Shinkichi ; Suzuki, Tatsuya
Author_Institution :
Dept. of Mech. Sci. & Eng., Nagoya Univ., Nagoya, Japan
fYear :
2009
fDate :
18-21 Aug. 2009
Firstpage :
2247
Lastpage :
2253
Abstract :
This paper proposes a new control scheme of decentralized multi-legged robot based on Follow-the-Contact-Point (FCP) gait control. In this control scheme, the first legs contact the points allocated on the terrain and the following legs touch the foot on the point which the fore leg is contacting. By creating adequate contacting points on the environment, the robot can be navigated successfully. Since the position information of the contacting points is relayed based on physical information of the legs, each leg does not need the global position of the contacting point. As a result, the proposed control scheme realizes decentralized architecture. This paper introduces the control law for the robot walking on even terrain. Finally, the result of physical simulation of 20-legged robot shows the availability of the proposed method.
Keywords :
decentralised control; legged locomotion; motion control; path planning; 20-legged robot simulation; control law; decentralized control architecture; follow-the-contact-point gait control; locomotion control; multilegged robot; robot navigation; robot walking; Automatic control; Centralized control; Distributed control; Leg; Legged locomotion; Navigation; Relays; Robot control; Robot kinematics; Robotics and automation; Decentralized control; Event-driven control; Gait control; Mealy automaton; Multi-legged robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
Type :
conf
Filename :
5335225
Link To Document :
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