Title :
Stair-climbing control of self-contained hexapod with semi-fixed gait
Author :
KOYACHI, Noriho ; Adachi, Hironori ; Nakamura, Tatsuya ; Nakano, Eiji
Author_Institution :
Mech. Eng. Lab., MITI, Ibaraki, Japan
Abstract :
A semi-fixed gait hexapod MELCRAB-2 was constructed as a self-contained walking robot to verify the usefulness of two strategies on actuator configuration design to solve the coupling problem in multi joint leg mechanism: ´gravitationally decoupled actuation´ and ´motion decoupled actuation´. The paper provides the tactical algorithms to control it like the way to change the stride to adapt the various stairs. As MELCRAB-2 is a self-contained walking robot, these control schemes run on an on-board computer.<>
Keywords :
computerised control; mobile robots; actuator configuration design; computerised control; coupling problem; gravitationally decoupled actuation; mobile robots; motion decoupled actuation; self-contained hexapod; semi-fixed gait; semi-fixed gait hexapod MELCRAB-2; stair-climbing control; tactical algorithms; Actuators; Algorithm design and analysis; Couplings; Kinetic theory; Leg; Legged locomotion; Mechanical engineering; Motion control; Propulsion; Robot control;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240586
