Supervisory Control of a Multilegged Robot-Reference-Cited by-同舟云学术

Supervisory Control of a Multilegged Robot

Published:1982-12 Issue:4 Volume:1 Page:79-91
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

Orin David E.¹

Affiliation:

1. Department of Electrical Engineering The Ohio State University Columbus, Ohio 43210

Abstract

Motion-planning algorithms to provide for 3-axis joystick control of a multilegged robot over planar terrain are presented. Three different modes of operation are developed: cruise (for motion along the circular arc whose radius varies with joystick position), side-stepping, and turn-in-place. In each of these modes, the trajectories of the body and the feet are generated. The overall cycling of the legs defines a "wave" gait pattern. The algorithms have been implemented on a PDP-11/45 minicomputer, and results for the control of the OSU Hexapod are given.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/027836498200100404

Reference19 articles.

1. Some considerations relating to the design of autopilots for legged vehicles

2. Walking robot with supervisory control

3. Use of Active Compliance in the Control of Legged Vehicles

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