DocumentCode
3481876
Title
Terrain following control of self-contained semi-fixed gait hexapod walking robot
Author
KOYACHI, Noriho ; Adachi, Hironori ; Nakamura, Tatsuya ; Nakano, Eiji
Author_Institution
Mech. Eng. Lab., AIST, MITI, Tsukuba, Japan
fYear
1990
fDate
3-6 Jul 1990
Firstpage
309
Abstract
The paper provides a control algorithm for terrain following of the self-contained semi-fixed gait hexapod walking machine MELCRAB-2. MELCRAB-2 uses decoupled freedoms of the leg mechanism for the body-propelling motion and the terrain-adapting motion. The mechanism simplifies the drive and control of the walking machine over rough terrain. The geometry of the leg mechanism is described, and its inverse kinematics is solved analytically. An algorithm for following the terrain and adjusting the body altitude is introduced
Keywords
kinematics; mobile robots; navigation; MELCRAB-2; body-propelling motion; inverse kinematics; rough terrain; self-contained semi-fixed gait hexapod walking robot; terrain following; terrain-adapting motion; Actuators; Couplings; Geometry; Laboratories; Leg; Legged locomotion; Mechanical engineering; Motion control; Propulsion; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location
Ibaraki
Type
conf
DOI
10.1109/IROS.1990.262406
Filename
262406
Link To Document