Title :
A navigable six-legged robot platform
Author :
Yanto Go ; XiaoLei Yin ; Bowling, Alan
Author_Institution :
University of Notre Dame
fDate :
April 26 2004-May 1 2004
Abstract :
This work addresses the navigability of a six-legged robot which is accomplished through the development of a simple discretized error correction method used in the closed-loop controller. The control is based on a kinematic model of the hexapod which is used to correct the heading and drift errors from the desired motion. Experimental validation of the controller??s performance is also presented.
Keywords :
Actuators; Buildings; Control systems; Error correction; Kinematics; Leg; Legged locomotion; Open loop systems; Robot sensing systems; Switches;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Conference_Location :
New Orleans, LA, USA
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1302527
