Author:
Figliolini Giorgio,Ceccarelli Marco
Abstract
A biped walking robot, named EP-WAR3 (Electro-Pneumatic-Walking-Robot), has been designed, built and tested at LARM (Laboratory of Robotics and Mechatronics) in Cassino. EP-WAR3 is provided with a suitable binary pneumatic actuation in order to be controlled through a common PLC (Programmable-Logic-Controller) as an event-based system in an on/off environment. The walking stability of the biped robot is obtained by using suction-cups, which are installed on the underside of each foot. EP-WAR3 is able to walk along a straight line with two different step sizes, turn right and left, and to climb and to descend stairs. A suitable motion analysis and programming technique of the PLC controller is proposed in order to obtain suitable walking capabilities and flexibility of the robot.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
7 articles.
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