Title :
Motion control of multi-legged machines
Author :
Okamoto, Naoya ; Kurihara, Yosuke ; Watanabe, K.
Author_Institution :
Dept. of Syst. Eng., Hosei Univ., Tokyo, Japan
Abstract :
This paper describes a control strategy for stable walking by a robot with six legs. While walking, the robot always has three legs in contact with the ground. Walking motion is controlled so that the center of gravity of the robot is within the triangle formed by the three contact points. It was confirmed that the proposed strategy enabled stable walking on a flat plane and on a plane with steps.
Keywords :
legged locomotion; motion control; stability; flat plane step; multilegged machine; six-legged robot; stable walking motion control; three contact point; Control systems; Gravity; Information science; Joining processes; Leg; Legged locomotion; Motion control; Robot kinematics; Stability; Systems engineering and theory; movement control; six legs; six-legged robot;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
