Intelligent walking motions and control for a legged robot

Author

Luk, B.L. ; Galt, S. ; Cooke, D.S. ; Hewer, N.O.

Author_Institution

Dept. of Electr. & Electron. Eng., Univ. of Portsmouth, Portsmouth, UK

fYear

1999

fDate

Aug. 31 1999-Sept. 3 1999

Firstpage

4756

Lastpage

4761

Abstract

Legged vehicles have the advantage over traditional wheeled vehicles is that they are capable of travelling on virtually any type of terrain. To realise this advantage, legged robots must possess efficient control and gait generation strategies. This paper presents a novel technique that contributes to a unique control system that has been developed to provide walking/climbing motions for an advanced 8-legged robot, Robug IV. The robot is based on the emulation of arthropod walkers and climbers, and is powered by pneumatic actuators. A new Fuzzy-Logic Adaptive Gait (FLAG) algorithm has been developed to provide improved walkingclimbing strategies.

Keywords

fuzzy logic; intelligent control; legged locomotion; pneumatic actuators; 8-legged robot; FLAG algorithm; Robug IV; arthropod climbers; arthropod walkers; climbing motions; climbing strategies; fuzzy-logic adaptive gait; intelligent walking motions; legged robot control; legged vehicles; pneumatic actuators; walking motions; walking strategies; Joints; Legged locomotion; Robot kinematics; Software; Stability analysis; Vehicles; Fuzzy Logic; Genetic Algorithms; Intelligent Control; Legged Robot; Robotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1999 European

Conference_Location

Karlsruhe

Print_ISBN

978-3-9524173-5-5

Type

conf

Filename

7100087